Robot controller
AssigneeFanuc Corporation
InventorsTetsuaki Kato, Toru Shirahata
Life of this patent
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Abstract
A robot controller determines an abnormality in position, velocity or acceleration of an end effector or a rotational axis of a robot. The robot controller includes a servo CPU that periodically writes current position data in a shared RAM with a host CPU. The current position data is obtained from robot position sensors. Using the written position data, the host CPU periodically compares stored data corresponding to position, velocity or acceleration with the newly written data. When an abnormal motion is detected, the robot is immediately stopped.
Claims10
A robot controller for controlling motion of an end effector mounted on a robot having a plurality of robot axes in accordance with a motion program, each of said robot axes being provided with a position detector, said robot controller comprising:
- a motion-type determining unit to determine whether a type of motion specified by the motion program is a path-control motion requiring a path control of the end effector or a respective-axes motion not requiring the path control of the end effector;
- a discrimination reference setting unit to set values of discrimination references for the tvpe of motion determined by said motion-type determining unit based on data in the motion program;
- a discrimination parameter setting unit to set discrimination parameters for discriminating an abnormal motion of the end effector on the robot, for the type of motion determined by said motion-tvpe determining unit, based on present position data of the robot axes obtained from outputs of the position detectors while said robot is in motion;
- a discriminating unit to compare said discrimination parameters with the values of the corresponding discrimination references, respectively and discriminate an abnormal motion of the end effector when one of said abnormal motion discrimination parameters exceeds the value of the corresponding discrimination reference;
- and
- a stopping unit for immediately stopping motion of said robot when the abnormal motion of the end effector is discriminated by said discriminating unit.
Dependencies are inferred from the claim text.