Robot control apparatus comprising a servo amplifier having an AC/DC converter

摘要

A robot control apparatus comprises a servo amplifier (110) having an AC/DC converter (111) and used for driving a servo motor of a robot (2), and performs control so that power for driving the robot (2) is supplied to the servo amplifier (110) through a capacitor inrush current preventing resistor (R1-R3) until precharging of a capacitor (113) provided for the AC/DC converter (111) is completed. The robot control apparatus (1) has a first operation mode in which the power is supplied by bypassing the resistor (R1-R3), a second operation mode in which power is supplied through the resistor (R1-R3) thereby controlling the servo motor in the robot (2) to a lower driving speed than the driving speed in the first operation mode, and a selector switch SW for effecting switching from the first operation mode to the second operation mode or from the second operation mode to the first operation mode. With this configuration, a power supply circuit (120) for supplying power to the servo amplifier (110) for limiting the driving of the robot (2) is reliably implemented by hardware.