| 摘要 |
PURPOSE:To prevent a current, higher than a rated level, from flowing through a motor at the time of stoppage of robot. CONSTITUTION:When a position command signal Sp goes zero to stop a motor 1, both comparators 16, 17 have high levels and thereby an AND circuit 18 outputs a high level signal. Consequently, a switch 14 is switched and even if a torque command signal St fed from a speed control section 9 has a level equal to or higher than the rated current value of the motor 1, a limiter 13 limits the torque command value to be fed to a servo amplifier 15 below the rated current value of the motor 1. Consequently, a current higher than the rated current does not flow into the motor at the time of stoppage of robot. |
