| 摘要 |
PURPOSE:To prevent the breakage of a motor, etc., by providing a mechanical stopper on the joint of a robot to detect the contact of the mechanical stopper at the time of a calibration and limiting the current of the corresponding motor. CONSTITUTION:The output of a CPU 17 is applied to servo amplifiers A1-A3 to be amplified and then supplied to motors M1-M3 of the 1st-3rd joint parts 1-3 respectively. Here encoders E1-E3 are attached to the motors M1-M3 respectively. Each of these encoders outputs an output pulse corresponding to the revolving angle to the CPU 17 as the A and B phase outputs and also outputs the signal which secures the reference revolving position to a reference signal detecting circuit 21 as a double phase output. Then an interruption is applied to the CPU 17 in response to those phase outputs. The CPU 17 decides a contact with the mechanical stopper when encoders E1-E3 deliver no pulse any more and controls the outputs supplied to amplifiers A1-A3.
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