| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot system capable of restraining an element of an inverter from being damaged, even if an excessive load-applied state to a driven part of a robot continues.SOLUTION: The robot system 10 comprises an inverter circuit 30 having a robot 11 having a motor 52 and an arm 50 and a bridge circuit for connecting a set of two switching elements in parallel, connecting the switching elements SW1-SW3 to the high potential side of a power source 14, connecting the switching elements SW4-SW6 to the low potential side of the power source 14 and respectively connecting the mutual two switching elements in respective series connection bodies to a U phase, a V phase and a W phase of the motor 52 and a control part 60 for switching the switching elements put in a closed state in order while maintaining a position of the arm 50 on condition that an electric current of flowing to one phase among the U phase, the V phase and the W phase is 0 and an equal state of the electric current flowing to the residual two phases continues by exceeding a predetermined period. |
