| 摘要 |
A robot controller having a stoppage monitoring function, by which safety of an operator is ensured without using hardware or the like for allowing/stopping the power transmission to each of a robot and a cooperating device. A CPU of the robot controller periodically monitors the position of the robot or the cooperating device based on positional information from each servomotor and the state of entering information regarding the robot or the cooperating device. Then, when entering information is initially input, the position of the servomotor of the robot or the cooperating device, to which the entering information is applied, is stored in RAM. After that, while the entering information is being input, the distance between the position stored in RAM and the current position of the servomotor is calculated. If the calculated distance is larger than an allowable moving distance, the CPU sends a command to an emergency stopping part in order to cut-off power to all servomotors of the robot and the cooperating device.
|
