Controller for controlling robot body with power-off brake

A controller for controlling a robot body with a joint drivable by a servomotor installed in the robot body, the servomotor being mechanically braked by a power-off brake installed in the robot body when the servomotor is deenergized, the controller comprising:

• a first switch unit configured to establish electrical connection between the power-off brake and a power source therefor when the servomotor is energized, the established electrical connection between the power-off brake and the power source causing the power-off brake to be released;
• a second switch unit manually operable and provided between the power-off brake and the power source, the second switch unit establishing electrical connection between the power-off brake and the power source upon being manually operated during the servomotor being deenergized;
• a failure determining unit configured to determine whether a dynamic brake of the servomotor is malfunctioned based on operation of the servomotor;
• and
• an interrupting unit configured to interrupt a supply of an electrical power from the power source to the power-off brake through the electrical connection established by the second switch unit when it is determined that the dynamic brake of the servomotor is malfunctioned.

A program product embedded in a non-transitory media accessible by a computer of a controller for controlling a robot body with a joint drivable by a servomotor installed in the robot body, the servomotor being mechanically braked by a power-off brake installed in the robot body when the servomotor is deenergized, the controller comprising:

• a first switch unit configured to establish electrical connection between the power-off brake and a power source therefor when the servomotor is energized, the established electrical connection between the power-off brake and the power source causing the power-off brake to be released;
• a second switch unit manually operable and provided between the power-off brake and the power source, the second switch unit establishing electrical connection between the power-off brake and the power source upon being manually operated during the servomotor being deenergized;
• and
• a switch element operatively connected to the computer and provided between the power source and the second switch unit, the switch element being configured to:
• close so as to establish electrical connection between the power source and the second switch unit;
• and
• open so as to disconnect the power source and the second switch unit, the program product comprising:
• first means for instructing the computer to calculate a driving speed of the joint by the servomotor;
• second means for instructing the computer to determine whether the calculated driving speed of the joint is greater than a predetermined threshold speed;
• and
• third means for instructing the computer to cause the switch element to open when it is determined that the calculated driving speed of the joint is greater than the predetermined threshold speed.

A program product embedded in a non-transitory media accessible by a computer of a controller for controlling a robot body with a joint drivable by a servomotor installed in the robot body, the servomotor being mechanically braked by a power-off brake installed in the robot body when the servomotor is deenergized, the controller comprising:

• a first switch unit configured to establish electrical connection between the power-off brake and a power source therefor when the servomotor is energized, the established electrical connection between the power-off brake and the power source causing the power-off brake to be released;
• a second switch unit manually operable and provided between the power-off brake and the power source, the second switch unit establishing electrical connection between the power-off brake and the power source upon being manually operated during the servomotor being deenergized;
• and
• a switch element operatively connected to the computer and provided between the power source and the second switch unit, the switch element being configured to:
• close so as to establish electrical connection between the power source and the second switch unit;
• and
• open so as to disconnect the power source and the second switch unit, the program product comprising:
• first means for instructing the computer to determine whether a dynamic brake of the servomotor is malfunctioned based on operation of the servomotor;
• and
• second means for instructing the computer to cause the switch element to open when it is determined that the dynamic brake of the servomotor is malfunctioned.