| 摘要 |
Problem: To cancel limitation to operation of a servo motor in various situations Means for Solving the Problem: A safety unit 10 includes a position determining unit 33, a speed determining unit 38, a logical product unit 40, and a stopping unit 42. When a rotation amount (positional data) of an encoder 3 rotating in connection with a rotation shaft of a servo motor 2 falls within a predetermined limiting range, the position determining unit 32 outputs a command for stopping a motor to the logical product unit 40. When rotation speed of the encoder 3 rotating in connection with the rotation shaft of the servo motor 2 falls within a predetermined limiting range, the speed determining unit 38 outputs the command for stopping the motor to the logical product unit 40. Only if the logical product unit 40 has received a motor stop command from both the position determining unit 32 and the speed determining unit 38, it outputs a command for stopping the servo motor 2 to the stopping unit 42. The stopping unit 42 receives the command from the logical product unit 40 and issues a command to stop the servo motor 2 to the controller 5. |
