| 摘要 |
PURPOSE:To stop a robot by supervising constantly an abnormal change of a pulse from the robot in operation so as to detect a fault of the robot such as overload or runaway thereby interrupting a power supply of a DC motor. CONSTITUTION:A pulse detecting a position of the robot is generated from a pulse generator 11 and fed to an on-time measuring circuit 13 via an input circuit 11. Moreover, a reset pulse from a reset circuit inverted by an inverting circuit 12 is fed to the circuit 13, where the on-time of the pulse is measured. Further, the inverted pulse from the inverting circuit 12 and a reset pulse from a reset circuit 17 are fed to an off-time measuring circuit 14, where the off-time of the pulse is measured. The time setting of a timer of the measuring circuits 13, 14 is performed respectively by a timer set circuit 12. Then the measuring circuits 13, 14 supervise the change state of the pulse of the robot in operation and when no pulse state change takes place even if a preset time is exceeded, it is regarded as a fault, drive circuits 18, 19 are started so as to activate power interruption relays 20, 21. |
