| 摘要 |
PROBLEM TO BE SOLVED: To provide a control device of a robot, capable of detecting erroneous wiring while minimizing a malfunction quantity of a motor even while causing the erroneous wiring. SOLUTION: This control circuit outputs a driving current to respective phase coils of an inspection object motor via a corresponding inverter (S11 and S12) so that a rotor of the inspection object motor maintains an initial position when acquiring the initial position of the inspection object motor from a positionθa provided by a position detector arranged in the inspection object motor when supplying a power source with any one of a plurality of servomotors as the inspection object motor (S4). When any of the servomotors arranged on respective shafts of a robot body rotates in its current output period (S14:YES), a connection state with servomotors respectively corresponding to the respective inverters is determined as defective (S22). COPYRIGHT: (C)2011,JPO&INPIT
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