DRIVE DEVICE FOR SERVO CONTROL TYPE MANIPULATOR

摘要

PURPOSE:To prevent breakage of an object or a slave arm by providing an overload detecting circuit which contains a timer for generating a critical overload signal when an overload signal from a comparator is continued for a time exceeding a specified value. CONSTITUTION:A comparator 40 in an overload detecting circuit 44 mounted to a drive device 24 compares a control signal Sc with a reference signal Sr from a reference signal generator 38, and when the control signal Sc exceeds the reference signal Sr. an overload signal So is generated. Only when an overload signal So being an output from the comparator 40 is continued for a time exceeding a specified value, a critical load signal Sco is outputted from a timer 42 to an alarm device 46. This constitution actuates the alarm device 46 and reports a worker that a high force is about to be exerted on an object with which a slave arm 14 is under contact.