| 摘要 |
<p>PURPOSE:To provide an abnormality detector which extremely easily detects the presence or absence of the abnormality of a servo system generated when a belt driving the arm of an industrial robot or the like is cut without using an auxiliary facility such as a limit switch. CONSTITUTION:A detector 6 outputting a speed feedback signal, and a detector 8 outputting position feedback signal are directly connected with a servo motor 5 rockingly driving an arm 1 through a pulley 2, belt 3, and pulley 4. The feedback of each feedback signal to a driving device 10 driving the servo motor 5 based on a command signal from a controller 9 is operated. Then, when a torque command signal to the driving device 10 is processed in integration and the time until it is turned into a saturated state is longer than a prescribed time, the cutting of a belt 3 is judged.</p> |
