| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a robot capable of detecting an abnormality of a DC voltage output from a DC power supply accurately without increasing the number of samplings for determining that the DC current is abnormal. <P>SOLUTION: A second control circuit 26 controls the monitoring operation of a first control circuit 25 based on a deviation of a current rotating position of a motor 11 from a command value for rotating position which is known from a feedback value from an encoder 12. In the monitoring operation, the first control circuit 25 samples a voltage Vdet according to the DC voltage Vd in a predetermined period, and outputs an abnormal state signal Sb when the voltage values obtained by sampling are found to be abnormal voltage values for a predetermined number of times consecutively. The second control circuit 26 determines that the DC voltage Vd is abnormal when it is inputted with the abnormal state signal Sb. <P>COPYRIGHT: (C)2010,JPO&INPIT |
