Multiaxis robot control having protection system with energy and backup velocity monitoring.

摘要

A digital robot control includes a position/velocity microprocessor control and a torque microprocessor control for each of multiple robot axes. Digital position, velocity and motor current feedback signals are generated from motor sensor signals for use in making microprocessor control calculations. Another motor sensor generates an overlimit signal when motor temperature rises above a limit value to indicate excessive motor current. The torque microprocessor makes a backup motor energy calculation from the feedback motor current signal from each joint motor and compares the result to a stored motor energy limit. A backup velocity determination is made for each joint motor by the torque microprocessor from the motor current feedback, the motor command terminal voltage and the motor resistance and inductance. The robot is shut down if the temperature or motor energy limit is exceeded or if the difference between the feedback and backup velocity values exceeds a predetermined limit.