| 摘要 |
<p>Disclosed is a robot system wherein a safety PLC that is not provided to a conventional robot controller is installed inside a robot controller, and wherein are achieved a high level of safety, reliability, and wiring saving with no complicated wire routing required. A controller (200) consists of a robot controller control board (210) which processes control commands of a robot (100), a safety PLC (220) which controls an emergency stop of a robot body, and a fusing detection means (230) for detecting fusing of a servo power supply disconnecting relay. The robot system is characterized in that safety-related signals from a teaching operation terminal (400) (signals from the aforementioned mode changeover switch, the aforementioned Servo On switch, the aforementioned emergency stop witch, and the aforementioned enable switch) are input directly into the safety PLC.</p> |
