| 摘要 |
<p>A collision detector includes a drive motor (1), a load current detection means (6) to detect the load current of the drive motor (1), an error detection means (5) to detect error in the drive motor (1) from a position command and a feedback signal from the drive motor (1), and control means (2, 3, 4, 7, 8, 10) to control drive of the drive motor (1). The control means determine whether the drive motor is driven during a processing period or a non-processing period. In case the drive motor is driven during a processing period, the control means detect a collision when the load current detected by the load current detection means (6) increases above a motor load current setting value used as a reference for overload detection of the drive motor (7), and limit the load current to reach at least the motor load current setting value but no more than a given motor current limiting value (4). In case the drive motor is driven during a non-processing period, the control means determine error detected by the error detection means when the load current detected by the load current detection means increases above the motor current limiting value which is set up to be below the load current setting value (8), thereby detecting a collision.</p> |
