| 摘要 |
PROBLEM TO BE SOLVED: To provide an electromagnetic brake state determination method, a robot and a robot control device, which make it possible to confirm whether or not braking by an electromagnetic brake is released, without providing a dedicated device or circuit separately.SOLUTION: The electromagnetic brake state determination method includes: a setting step of setting a maximum absolute value T of a driving source output torque, a voltage V to be applied to the electromagnetic brake, and an upper limit value Vmax; a driving source rotation step of driving the driving source and rotating it while applying the voltage V to the electromagnetic brake; and a rotation determination step of determining whether or not the driving source is rotated. When it is determined that the driving source is not rotated, the electromagnetic brake state determination method performs a voltage change step of increasing the voltage V applied to the electromagnetic brake, and performs the driving source rotation step and the rotation determination step again. When it is determined that the driving source is rotated, the electromagnetic brake state determination method performs a first determination step of determining that the braking by the electromagnetic brake is released normally, and the maximum value T is smaller than the brake torque of the electromagnetic brake. |
