| 摘要 |
PROBLEM TO BE SOLVED: To solve a problem that it is necessary to stop a mobile machine to confirm the safety of an emergency stop function when an operation device and a mobile machine control device in a non-connected state are connected back to operate the mobile machine.SOLUTION: When being turned on in a state where a teaching operation device 50 is in a non-contacted state, semiconductor switches 34, 34A excite relays RY1, RY3 and invalidate stop of a robot R due to removal of emergency stop switch circuits SC1, SC2. Diagnosis circuits 40, 40A diagnose the semiconductor switches 34, 34A in a range where make contacts RY1a, RY3a are not turned off during a period when the semiconductor switches 34, 34A are turned on. The safety of the emergency stop function can be diagnosed without stopping the mobile machine when the teaching operation device 50 is connected back. |
