| 摘要 |
PURPOSE:To prevent an operator from danger at the time of teaching by setting up a deviation allowable value at a teaching mode and that at an automatic operation mode independently and selecting these deviation allowable values in accordance with each mode. CONSTITUTION:The deviation allowable value A at the teaching time and the deviation allowable value B at the automatic operation are inputted from a keyboard 11 to a central operation control device 3 and stored and an output, i.e. a deviation C, from a deviation counter 5 is inputted to the device 3 to make the device 3 execute the succeeding processing. Whether the device 3 is in the teaching mode or the automatic operation mode is decided, and in case of the teaching mode, the allowable value A is selected and the deviation C is compared with the allowable value A. If C>=A, a power supply in a servo system is turned off and the robot is stopped. In case of the automatic operation mode, the allowable value B is selected and compared with the deviation C, and when C>=B, the robot is stopped. |
