| 摘要 |
PURPOSE:To maintain a robot in conditions at service interruption even if the power source is recovered after the service interruption, by a method wherein a motor is driven selectively by current command signals and speed command signals. CONSTITUTION:At the time of origin processing action after making of power source, a speed command of speed zero is inputted through an input terminal 3 and signal of low level is inputted to a selective terminal 5. Thereby analog switches 13, 23 are short-circuited, and a difference signal between the speed command signal and a speed signal from a tachogenerator 9 is supplied to a substractor 15. Output of the substractor 15 is supplied through the analog switch 23 to a motor 1. After starting the action, a current command signal is inputted through the input terminal 3 and a signal of high level is inputted through the selective terminal 5. Thereby analog switches 17, 25 are short- circuited and the current command signal is supplied to the subtractor 15. |
