| 摘要 |
PROBLEM TO BE SOLVED: To effectively prevent the malfunction of a brake release switch to release a brake for a vertical shaft. SOLUTION: A brake 21 is provided on a vertical shaft motor to drive a vertical arm, and a brake release switch 22 operated by a worker is provided on the upper surface of a second arm. A robot controller 2 energizes the brake 21 when the vertical shaft motor 9 is stopped, and disconnects energization to the brake 21 when the vertical shaft motor 9 is driven. An energization passage 25 to the brake 21 is composed of a first passage 25a serially connecting the brake release switch 22 to a first relay switch 26, and a second passage 25b to which a second relay switch 27 is inserted. The robot controller 2 turns the first relay switch 26 on, and the second relay switch 27 off, only in a direct teaching mode. In other modes, the second relay switch 27 is turned on, and the first relay switch 26 is turned off. COPYRIGHT: (C)2003,JPO
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