| 摘要 |
<P>PROBLEM TO BE SOLVED: To prevent the down-movement of a robot arm in the direction of gravitational force during interlock operation associated with the pressure drop of protection gas in an articulated robot having an inner pressure explosion-proof structure. <P>SOLUTION: This control system for the articulated robot includes a pressure detecting part (102) for detecting whether the pressure of the protection gas in an articulated robot casing is lower than a first threshold pressure or not, a first interlock mechanism (250) for stopping the supply of power to servo motors (M1-M6) and brakes (Br1-Br6) when the pressure detecting part detects that the pressure of the protection gas is lower than the first threshold pressure, and a second interlock mechanism (260) for stopping the supply of power to the servo motors, the brakes and position detectors (E1-E6) and interrupting the supply of a position detection signal from the position detector after the first interlock mechanism is operated. <P>COPYRIGHT: (C)2013,JPO&INPIT |
