| 摘要 |
A robot controller which rapidly and automatically detects an abnormal movement of a position representative point of a robot and then stops the robot. A robot controller (30) is provided with a host CPU (31), a common RAM (32), a servo CPU (33), a servo amplifier (34), a memory (35), an interface (36) for a teaching control panel, and an I/O device (38). The servo CPU (33) recognizes the present position of each shaft from the output of a position detector and periodically writes the present position of each shaft in the common RAM (32). Using the data written in the common RAM (32), the main CPU (31) periodically makes abnormal movement detection barometers for detecting an abnormality in the moving velocity, moving acceleration, moving direction, and moving position of the tip point of a tool or an abnormality in the angular velocity of a wrist shaft and compares those abnormalities with abnormal movement detection references. Immediately after any abnormal movement is detected, the robot is stopped.
|
