| 摘要 |
PROBLEM TO BE SOLVED: To stop a robot faster than being stopped by a power breaker when an interlock signal is output from a shock sensor or a limit switch.SOLUTION: A safety device includes a power breaker 60 supplying and shutting off electric power to a servo amplifier 54 activating a drive motor for a manipulator 10, a shock sensor SS disposed in the manipulator 10, a circuit (interlock signal generation means) connecting the shock sensor SS to a robot controller 20, and a sequence section 40 having the power breaker 60 shut off the electric power based on the interlock signal. Before the power breaker 60 shuts off the electric power based on the interlock signal, a servo drive 52 is capable of stopping servo control of the servo amplifier 54. When a plurality of manipulators 10 are connected, it can be known which manipulator has output the interlock signal. |
