| 摘要 |
A robot controller determines an abnormality in position, velocity or acceleration of an end effector or a rotational axis of a robot. The robot controller includes a servo CPU that periodically writes current position data in a shared RAM with a host CPU. The current position data is obtained from robot position sensors. Using the written position data, the host CPU periodically compares stored data corresponding to position, velocity or acceleration with the newly written data. When an abnormal motion is detected, the robot is immediately stopped.
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