| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot system detecting a disconnection failure of an indication lamp indicating the drive condition of a motor without adding an exclusive hardware constitution. SOLUTION: A lamp 13 is interposingly arranged in a voltage supply path to a brake B1. A control unit feedback-controlling drive of the motors M1-M6 estimates a required torque value required to generate in the motor M1 in order to make the robot perform a predetermined motion using a command rotation angle, calculates a present torque value generated by the motor M1 using a value of a current flowing through the motor M1, indicates the disconnection failure of the lamp 13 when the present torque value becomes greater than the required torque value by a predetermined value or more, and stops drive of the motors M1-M6. COPYRIGHT: (C)2011,JPO&INPIT |
