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AssigneeFanuc Corporation
InventorsYoshiki Hashimoto, Minoru Enomoto
Estimating the term…
A robot control apparatus comprises a servo amplifier having an AC/DC converter and used for driving a servo motor of a robot, and performs control so that power for driving the robot is supplied to the servo amplifier through a capacitor inrush current preventing resistor until precharging of a capacitor provided for the AC/DC converter is completed. The robot control apparatus has a first operation mode in which the power is supplied by bypassing the resistor, a second operation mode in which power is supplied through the resistor thereby controlling the servo motor in the robot to a lower driving speed than the driving speed in the first operation mode, and a selector switch SW for effecting switching from the first operation mode to the second operation mode or from the second operation mode to the first operation mode. With this configuration, a power supply circuit for supplying power to the servo amplifier for limiting the driving of the robot is reliably implemented by hardware.
A robot control apparatus which comprises a servo amplifier having an AC/DC converter and used for driving a servo motor of a robot, and which performs control so that power for driving said robot is supplied to said servo amplifier through a capacitor inrush current preventing resistor until precharging of a capacitor provided for said AC/DC converter is completed, said robot control apparatus having:
Dependencies are inferred from the claim text.