Robot control system having stop function
AssigneeFanuc Corporation
InventorsTakumi Oyama, Tomoyuki Yamamoto
Life of this patent
Estimating the term…
Abstract
A robot control system includes an operation command output unit which outputs an operation command of a motor, a position detection unit which is provided on the motor to detect the position of a control shaft, a stop signal output unit which outputs a stop signal to stop the robot when the speed of the control shaft acquired from the position detection unit exceeds a speed threshold value, and an operation command interruption unit which interrupts the operation command outputted from the operation command output unit when the stop signal is outputted.
Claims3
A robot control system, comprising:
- a robot having at least one control shaft driven by a motor;
- a robot control device configured to
- output an operation command of the motor,
- detect the position of the control shaft,
- in response to a speed on the control shaft exceeding a predetermined threshold value, output a stop signal to stop the robot, and
- in response to the stop signal being outputted and the operation command being other than zero, interrupt the operation command,
- store the position of the control shaft when the stop signal is outputted as a reference signal, and
- interrupt a power supply to the robot when a deviation between the position of the control shaft and the reference position exceeds a deviation threshold value while the stop signal is outputted;
- and
- a servo amplifier configured to amplify the operation command and supply the amplified operation command to the servo motor,
- wherein the robot control device is configured to interrupt the operation command after the operation command is outputted but before the outputted operation command is supplied to the servo amplifier.
A robot control system, comprising:
- a robot having at least one control shaft driven by a motor;
- and
- a robot control device configured to
- output an operation command of the motor,
- detect the position of the control shaft,
- in response to a speed on the control shaft exceeding a predetermined threshold value, output a stop signal to stop the robot, and
- in response to the stop signal being outputted and the operation command being other than zero, interrupt the operation command,
- store the position of the control shaft when the stop signal is outputted as a reference signal, and
- interrupt a power supply to the robot when a deviation between the position of the control shaft and the reference position exceeds a deviation threshold value while the stop signal is outputted, wherein
- the robot control device is configured to interrupt the operation command after the operation command is outputted but before the outputted operation command is supplied to a servo amplifier of the motor.
Dependencies are inferred from the claim text.