EMERGENCY STOP METHOD OF INDUSTRIAL ROBOT

摘要

PURPOSE: An emergency stop method of an industrial robot is provided to secure stability in robot motion by stopping a robot in the minimum distance without an excessive impact to the robot. CONSTITUTION: An emergency stop method of an industrial robot comprises the steps of: obtaining a range to the maximum to the minimum speed-reduction time of motors in an industrial robot through a servo control unit(S100), re-establishing a speed reduction plan based on dynamics of an industrial robot system for all the axes of the robot in response to an emergency stop request(S200), and stopping the robot in a braking distance necessary for the maximum to the minimum speed-reduction time according to the speed of each axis while maintaining an accurate track so that the robot can stop at the maximum deceleration rate without deviating from the planned track(S300).