| 摘要 |
PURPOSE:To prevent a function stop in the course of a work by the minimum redundancy by forming as a unit a constituting equipment of each driving part, providing one shaft or more of redundant shafts in the unit, and also providing a switching mechanism for using in common each element. CONSTITUTION:A constituting equipment of one driving part consists of a control unit 1 for an arm, an amplifying unit 2 for the arm, and a motor unit 3 for the arm, which have one shaft or more of redundant shafts, respectively, and elements 10-15, 20-25, and 30-35 in each unit are switched in accordance with an operation of self-diagnostic devices 150, 250, and 350 of each unit, through the respective switching mechanisms 100, 201, and 300, and a backup system is constituted. In this way, when a control impossibility is generated in one shaft, the element in the faulty unit is switched to a sound element, and a function stop in the course of a work is prevented by the minimum redundancy.
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