| 摘要 |
PURPOSE:To prevent the breakage of a robot by stopping the actions of all axes and at the same time transmitting the position of an abnormal axis to an integrated control computer in case the abnormality occurs in the control of a microcomputer controlled robot having plural axes to be controlled. CONSTITUTION:The working state of a robot 5 is always monitored by an axis control microcomputer MC2. The MC2 supplies the working state signal of its own to an abnormality detecting circuit 3 together with the working state signal of the robot 5. Then the circuit 3 decides the presence or absence of an abnormal state by the signal supplied from the MC2 and transmits the abnormal state signal to an abnormal signal analyzing circuit 4 through an abnormal detecting bus 7 when the abnormal state is detected. The circuit 4 transmits the axis control stop signals through a system bus 6 not only to the MC2 corresponding the abnormal axis but to all MC2. At the same time, the circuit 4 transmits the abnormal position instructing signal to an integrated control computer 1 through the bus 6.
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