| 摘要 |
<p>A method of controlling stop of an industrial robot having a plurality of axes driven by servomotors in which the robot is stopped after sensing of colliding with a foreign object. The monitoring of a positional deviation value (S11) of the servomotor with respect to which a collision is sensed is stopped and a command to make the speed of the servomotor zero is issued (S12). Thereby, reverse torque is generated (S13) and the speed of the servomotor begins to decrease. After the predetermined lapse of time (S14), the monitoring of the positional deviation value is restarted (S15). When the positional deviation value exceeds a predetermined value (S31) an alarm is issued (S32). Then, the currents of all the servomotors are cut off (S33) and the operation of the robot is stopped in a short time.</p> |
