ROBOT CONTROLLER.

摘要

The controller comprises a control unit (7) which sends a signal to or receives it from servo unit (6) which supplies signals to and feeds the signals back to a motor (5) for Z-axis linear motion drive. A threshold signal generator (8) is included to supplies a threshold value to the control unit. A comparison of a motor torque instruction value in the control unit with a threshold value supplied from the supplied from the threshold value input unit is carried out. when the comparison indicates that the motor torque instruction value is greater than a predetermined threshold value, an alarm is generated. The process proceeds toward coping wiht the occurrence of abnormal conditions. When the alarm ils generated. The control operation is then executed based upon the detected force of the robot along the Z-axis.