| 摘要 |
PROBLEM TO BE SOLVED: To solve such a problem that in a conventional technology, there is no method for automatically confirming whether or not emergency stop is correctly interlocked between a plurality of arc welders and one robot controller connecting them to secure safety.SOLUTION: A robot controller RC starts a diagnosis mode when an own power source is turned to on-state or when power sources of the arc welders WPS1-WPSN are turned to on-state. In the diagnosis mode, the robot controller RC outputs emergency stop signals for all the arc welders WPS connected, and inquires input states of the emergency stop signals recognized with the arc welders. The robot controller RC determines whether the states of output emergency stop signals are accorded with the states of signals sent back from the arc welders respectively, and when it is not accorded, the robot controller prohibits execution of arc welding as some inconvenience exists in interlocking of the emergency stop. |
