| 摘要 |
PURPOSE:To improve safety by locking the servomotor for each shaft by a brake when a robot stops, and powering off the motor. CONSTITUTION:When an actuation signal for the robot is inputted from a manual operation input device 5, a CPU1 sends out a servomotor drive ready signal from an output circuit 6, and servomotors for respective shafts are released to put the robot in an operation ready state. Then, the robot is operated according to a program stored in an ROM4. In the operation, the CPU1 detects whether a hold signal for stopping the operation of the robot at a specific position, single block signal, or alarm signal is generated or not; if one of those signals is detected, the CPU1 stops the robot to power off the servomotors for the respective shafts for a time set in a timer. Even if the actuation signal is generated in said time, the motors are prevented from being powered on. |
