| 摘要 |
PURPOSE:To improve the stop responsiveness and prevent the application of an unreasonable force onto a grindstone in excessive loading by generating a signal when the consumed electric power of a grinder exceeds the max. rated electric power of the grinder and emergently stopping a robot on the basis of the signal. CONSTITUTION:The electric power for grinder is detected by an electric-power meter 8 during a burr removing process and read into a controller 6. The detected electric power is compared with each previously set electric power value in three comparators 10a, 10b and 10c. According to the result of the comparison, the feeding speed is set as it is, or raised or lowered. Though the burr removing work is completed, if an anomaly signal of excessive load is outputted for a PC11 during the reading process of the electric power of the grinder, the operation of a robot is emergently suspended. Therefore, the grinder 3 and grindstone are prevented from being damaged beforehand. |
