| 摘要 |
PURPOSE:To obtain an extremely safe and highly reliable robot, by providing a rotary encoder, position detector, abnormality detector, and safety processing section and quickly setting the robot to an operation-disable condition when signal lines are disconnected or short-circuited. CONSTITUTION:When, for example, line disconnection occurs at a rotary encoder 8, a Z-counting section 22 counts the zero signal of the encoder 8 and, whenever timing pulses are inputted, outputs the increased quantity to the detecting section 23 for detecting abnormality in zero signal of an abnormality detecting section 17. The detecting section 23 discriminates existence/nonexistence of abnormality by inspecting the increased quantity of the zero signal of the encoder 8 at every timing pulse. In this case, the increased quantity at every timing pulse is detected as zero or very small quantities. In response to the abnormality detected at the detecting section 17, a safety processing section 18 promptly stops the robot when, for example, the robot is operated, and fixes the attitude of the robot main body by a brake, etc., so as to set the robot to an operation-disable condition. |
