| 摘要 |
PURPOSE:To improve the safety of control based upon a control stick by inspecting whether a prescribed output voltage is applied or not at the neutral position of the control stick for teaching a robot, and when the output is abnormal, invalidating the control based upon the control stick. CONSTITUTION:A control stick operating part 2 is fitted to the side part of a teaching operation board 1 to teach a speed control value of the robot by operating the control stick. When teaching operation is to be executed by the control stick, a changeover switch 12 is turned to the operation side. The control stick is set on the neutral position and the operation mode is set to a test mode to inspect whether a robot control value (OVR) exists in a nonsensitive band (b1- b2) or in each axis. At an abnormal display time when the output of an AND circuit is L, i.e. abnormal, in the test mode, a signal is sent to an emergency stop circuit and an electromagnetic switch is turned off, so that the operation based upon the control stick is invalidated. In said status, effective operation can not be executed even if the test mode is turned to the normal operation mode. |
