Patent ID: 7145306
Filing Date: 2006-12-05
Classification: B25J,G05B

Abstract:
1. A method of controlling a function of a moving body after examining whether there is any error thereof in a starting period, the moving body having a first function including a control function of a motion of the moving body accompanying with an operation of an actuator through conditioning of electric power supplied to the actuator via a drive system cable from a drive system power supply with a first sub-control unit out of a plurality of control units operating by being supplied with power via control system cables from a control system power supply and a second function including an alternate communications facility with the plurality of control units and a measuring function of a state quantity through a sensor of a second sub-control unit out of the plurality of control units, the method comprising: an error detection step of detecting the presence or absence of a first error likely to disturb the first and second functions, a second error likely to disturb the first function while unlikely to disturb the second function, and a third error unlikely to disturb the first and second functions during a starting period from starting the power supply to the plurality of control units until starting the motion of the moving body accompanying with the operation of the actuator; a mode setting step of: a step of controlling functions of the moving body according to the mode set in the mode setting step.