| 摘要 |
PURPOSE:To facilitate the easy detection of a fault by using a means that performs a shift test of a robot with an open loop. CONSTITUTION:A test system 1 comprises a changeover switch device 2 which can cut off optionally a feedback line F for an output signal (a) of a sensor system to a drive signal (b) for each robot element, an output circuit 3 for operation signal (c) of robot element and a comparator 4 which reads the signal (a) and compares it with the reference value together with a controller 5 for switch control of the device 2, a console 7 serving as an input/output device and a display 6. When a command is given from the console 7 for start of an action test, the controller 5 selects one of many robot elements of a robot R and delivers a switch changeover signal (d) for the selected element to open the device 2. Thus the line F is cut off. Thus a sensor system is separated from a servo system of the robot R in terms of the relevant robot element. Then an open loop is obtained. |
