| 摘要 |
PURPOSE: An apparatus for controlling motor and brake and method therefor is provided to prevent safety accident possibly occurred when a motor and a brake of a multi-articulated robot system using a motor as a power source are controlled only with a software method by controlling them with a hardware and a software method. Also, the apparatus is provided to perform more smooth control of the robot by allowing a proper accelerating or decelerating treatment to be made during lapsed time period. CONSTITUTION: In an apparatus for controlling motor and brake and method therefor, the apparatus in which an emergency stopping state is defined, and, if the emergency stopping state is effected, motor on/off signal and brake on/off signal are output and then operation of a motor(14) is stopped and a brake(16) is operated comprises at least one of counter(12), a plurality of memory elements and logic elements. When the emergency stopping state is effected, clock having a predetermined vibrating frequency is counted simultaneously. Until the count value approaches to a predetermined set value, the motor(14) and the brake(16) are allowed to be controlled in response to the motor on/off signal and the brake on/off signal. After the count value approaches to a predetermined set value, the operation of the motor(14) is stopped with a hardware method and the brake(16) is operated with a hardware method independently on the motor on/off signal and the brake on/off signal until the emergency stopping state is released.
|
