| 摘要 |
PURPOSE:To limit the coasting speed of a robot to a low speed to evacuate a person safely even if an abnormality occurs in a position control system, by monitoring always a positional deviation and limiting a maximum speed command voltage in accordance with an operation mode. CONSTITUTION:A position command signal and a position feedback signal inputted from buffers 13 and 14 respectively are taken into a microprocessor 11 at a certain timing and are stored in a storage device 12. The processor 11 calculates the positional deviation on the basis of these signals and supplies a corresponding manipulated variable to a temporary storage device 16, and this manipulated variable is subjected to D/A conversion in a D/A converter 17 by the signal from a control circuit 15, and this analog output is supplied as a command voltage to a speed control part. Thus, the positional deviation is always monitored and the maximum speed command voltage is limited in accordance with the operation mode to limit the coasting speed of the robot even if the power source of a driving motor is turned off because of the occurrence of an abnormality such as disconnection of a feed signal or the like in the teach mode. |
