| 摘要 |
PROBLEM TO BE SOLVED: To provide an industrial robot capable of being urgently stopped so that the arm posture becomes a predetermined condition, even if including a plurality of motors for turning a plurality of arm units, in the industrial robot having arms comprising the plurality of arm units coupled so as to be relatively turnable.SOLUTION: An industrial robot includes: motors 31, 46 for turning a plurality of arm units; motor drivers 71, 72 for driving and controlling the motors 31, 46, respectively; a power supply 78 for supplying electric power to the motor drivers 71, 72; a charging/discharging unit 80 chargeable by the regenerative electric current generated in the motors 31, 46; and a control execution unit 79 for controlling the motor drivers 71, 72. This industrial robot shuts off the power supply 78 in the emergency stop, and the control execution unit 79 stops the motors 31, 46 while controlling the motor drivers 71, 72 by using electric power supplied from the charging/discharging unit 80. |
