US 4,904,911 AGranted

System for controlling robot

AssigneeFanuc Corporation

InventorsKenichi Toyoda, Nobutoshi Torii, Ryo Nihei, Akihiro Terada

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Abstract

A system for controlling a robot includes a control portion (7) for supplying a control signal to and receiving a control signal from a servo unit (6) for carrying out a signal supply and a signal feedback to an electric motor (5) for driving a shaft executing a Z-axis linear motion, and threshold value supply portion (8) for supplying a threshold value to the control portion. Based on a comparison between a motor torque instruction value and a threshold value supplied from the threshold value supplying portion, an alarm is delivered and the process subsequently proceeds to a step of dealing with an abnormal condition when said motor torque instruction value becomes greater than a predetermined threshold value.

Claims1

Dependent claims

A system controlling a robot, characterized in that said system comprises:

an electric motor for driving a shaft executing a Z-axis linear motion of said robot;
a servo unit for carrying out a signal supply and a signal feedback to said electric motor;
a control portion for supplying a control signal to and receiving a control signal from said servo unit;
and
a threshold value supply portion for supplying a threshold value to said control portion;
a comparison between a motor torque instruction value and a threshold value supplied from the threshold value supplying portion being carried out in said control portion;
an alarm being delivered and the process subsequently proceeding to a step of dealing with an abnormal condition when said motor torque instruction value becomes greater than a predetermined threshold value;
whereby, a control is carried out based on a detection of a force along the Z-axis of said robot.

5 more elements

Dependencies are inferred from the claim text.