| 摘要 |
PURPOSE:To ensure safety even at abnormalities by issuing the alarm so as to stop a robot or return it to a teached locus when a set area deviates from the teached locus after a set period expires. CONSTITUTION:An automatic control system monitors always a distance between the teached locus and a position corrected by a profiling function, and obtains the distance HN through arithmetic. After the distance HN is obtained, judgment is made whether or not the distance exceeds a set deviation monitor distance (r), and if so, a deviation counter is increased by one. The set number of monitoring times is compared with the deviation counter. When they are equal, judgment is made whether the robot is returned to the teached locus, of the alarm is issued to stop the robot. If the robot is returned to the teached locus, information for the returning is produced. In case of the latter, the alarm is issued, and a request for stopping the robot is carried out. |
