| 摘要 |
PURPOSE:To ensure sufficiently the safety of a worker at a time such as teaching job by supervising a combined speed value of a robot tip, an operating speed command of of each axis and a real operating speed of each axis so as to limit and stop the robot when they exceed a reference value. CONSTITUTION:When the combined speed at the robot tip operated based on an operating command of a multi-axis robot exceeds a reference combined speed stored in advance in a memory 12, the operating position command is changed while taking the over amount into account. The present value is subtracted from the operating position command to obtain the operating speed command Dv, and when the operating speed command Dv exceeds a reference operating speed Dr at each axis during operation, an output of the 1st comparator 24 limits to voltage level of an operating speed command voltage signal Sv. When the speed of a robot axis exceeds the reference axial speed going to be runaway, the 2nd comparator 25 discriminates it, a magnetic contactor 29 is excited to open a normally closed contact 29a, thereby shutting off a power supply for each servo amplifier and the system comes to an emergency stop immediately. |
