Controller and robot system
AssigneeKabushiki Kaisha Yaskawa Denki
InventorKeita Ogoh
Life of this patent
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Abstract
A controller includes: a plurality of first drivers that outputs a plurality of drive signals to drive a plurality of motors, respectively, and stops an output of the drive signals with a stop signal; a second driver that outputs a drive signal to drive another motor, and stops an output of the drive signal with a stop signal; a first transmitter that transmits the stop signal to all the first drivers; a second transmitter that transmits the stop signal to the second driver; and a stop signal introduction unit capable of introducing separate stop signals to into the first transmitter and the second transmitter, respectively.
Claims8
A controller comprising:
- a plurality of first drivers configured to output a plurality of drive signals to drive a plurality of actuators, respectively, and to stop an output of the plurality of drive signals in accordance with a first stop signal;
- a second driver configured to output a drive signal to drive another actuator, and to stop an output of the drive signal in accordance with a second stop signal;
- a first transmitter configured to transmit the first stop signal to all of the plurality of first drivers;
- a second transmitter configured to transmit the second stop signal to the second driver;
- and
- a stop signal introduction device configured to send a plurality of stop signals into the first transmitter and the second transmitter, respectively, the stop signal introduction device comprising:
- a plurality of terminals configured to receive the plurality of stop signals, respectively;
- and
- a stop signal allocator configured to set combinations between the plurality of stop signals received by the plurality of terminals and the first and second signals sent to the first transmitter and the second transmitter, in accordance with an input of settings from an outside.
A robot system comprising:
- a controller comprising:
- a plurality of first drivers configured to output a plurality of chive signals to drive a plurality of actuators, respectively, and to stop an output of the plurality of drive signals in accordance with a first stop signal;
- a second driver configured to output a drive signal to drive another actuator, and to stop an output of the drive signal in accordance with a second stop signal;
- a first transmitter configured to transmit the first stop signal to all of the plurality of first drivers;
- a second transmitter configured to transmit the second stop signal to the second driver;
- and
- a stop signal introduction device configured to send a plurality of stop signals into the first transmitter and the second transmitter, respectively, the stop signal introduction device comprising:
- a plurality of terminals configured to receive the plurality of stop signals, respectively;
- and
- a stop signal allocator configured to set combinations between the plurality of stop signals received by the plurality of terminals and the first and second signals sent to the first transmitter and the second transmitter, in accordance with an input of settings from an outside;
- an articulated arm driven by all of the plurality of actuators, the plurality of actuators to operate in accordance with the plurality of drive signals from the plurality of first drivers;
- and
- at least one external apparatus driven by the another actuator, the another actuator to operate in accordance with the drive signal from the second driver.
Dependencies are inferred from the claim text.