| 摘要 |
PROBLEM TO BE SOLVED: To minimize damage and to lengthen the life of a machine itself to improve safety by automatically avoiding a caught object when a product or a human body is caught between machines at a part where a servo motor is used for a drive source in a robot system. SOLUTION: Whether the servo motor 201 of the robot system is different from normal motion is confirmed by accumulated pulse in the function of the servo motor. The safety control method and safety control circuit for the robot system are provided with measuring means 202, 203 for measuring the numeric value of load applied in the operating direction of the servo motor, using the accumulated pulse and torque limit; a detecting means 206 for comparing the numeric value with the set value and outputting a trouble sign when the numeric value becomes the set value or more; and driving means 211, 212, 214 for slowly rotating (208, 209, 210) the servo motor in a reverse direction to the installed direction by the sign and stopping it in a position of avoiding the caught object or human body. COPYRIGHT: (C)2004,JPO
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