Method for Verifying the Assignment of a Drive to a Control Device
AssigneeKUKA Roboter GmbH
InventorTorsten Geiler
Life of this patent
Estimating the term…
Abstract
A method for verifying the assignment of a drive to a control device of an industrial robot. A drive, comprising at least one actuator and a motion sensor, is assigned to one of the axles of the robot. The assignment is verified by outputting a suitable test signal from the control device to the drive, and comparing the output test signal with motion signals generated by the motion sensor.
Claims20
A method for verifying the assignment of a plurality of drives of a machine having a plurality of axles, wherein each of the plurality of drives is assigned to one of the axles and wherein each drive comprises at least one actuator and one motion sensor, each drive being further to a control device which is configured to control the machine by means of a control program, the method comprising:
- a) the control device outputting a test signal to at least one of the drives;
- b) in response to the test signal, the actuator of the one drive causing corresponding movements of assigned one of the axles of the machine;
- c) the assigned motion sensor of the one drive detecting the movements and sending corresponding motion signals to the control device, and
- d) the control device comparing the test signal with the motion signals to detect at least one of a phase shift ÿ, an inversion, or a change of an amplitude k.
Dependencies are inferred from the claim text.