US 2009/0058342 A1Published application

Robot controller having stoppage monitoring function

AssigneeFanuc Corporation

InventorsRyo Nihei, Tetsuaki Kato, Takeaki Aramaki, Tomoyuki Yamamoto

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Abstract

A robot controller having a stoppage monitoring function, by which safety of an operator is ensured without using hardware or the like for allowing/stopping the power transmission to each of a robot and a cooperating device. A CPU of the robot controller periodically monitors the position of the robot or the cooperating device based on positional information from each servomotor and the state of entering information regarding the robot or the cooperating device. Then, when entering information is initially input, the position of the servomotor of the robot or the cooperating device, to which the entering information is applied, is stored in RAM. After that, while the entering information is being input, the distance between the position stored in RAM and the current position of the servomotor is calculated. If the calculated distance is larger than an allowable moving distance, the CPU sends a command to an emergency stopping part in order to cut-off power to all servomotors of the robot and the cooperating device.

Claims3

Dependent claims

A robot controller for controlling a robot having at least one control axis driven by a servomotor and a cooperating device, performing a work in cooperation with the robot, having at least one control axis driven by a servomotor, the robot controller comprising:

a controlling part for receiving a command whether a stoppage state of each of the robot and the cooperating device is to be monitored;
a judging part for judging, when the controlling part receives a command to monitor a stoppage state of at least one of the robot and the cooperating device, whether the robot or the cooperating device, the stoppage state of which is commanded to be monitored, is stopped, based on the position input by a positional detector arranged on a servomotor for driving a control axis of the robot or the cooperating device;
and
an emergency stopping part configured to not activate while the robot or the cooperating device, the stoppage state of which is commanded to be monitored, is judged to be stopped, and to stop both the robot and the cooperating device when the robot or the cooperating device, the stoppage state of which is commanded to be monitored, is judged not to be stopped.

1 more element

Dependencies are inferred from the claim text.