Title:
OPERATING METHOD FOR WORKING ROBOT
Document Type and Number:
Japanese Patent JPS62166410
Kind Code:
A
Abstract:
PURPOSE:To operate a working robot without inflicting any danger to an operator during try play process by operating the robot so that the motor output in the try play process is within a safety range. CONSTITUTION:When a play clock is outputted from a generator 50 at every specific period, an MPU 46 reads data out of addresses 0-(n) of a table 47 in synchronism with the clock and judges a change in the moving direction of a tool to reduce the speed when there is the change or selects the operation speed according to the quantity of displacement of position data when there is no change. Then, motor driving parts 44A and 44B make a contact point CY2 and breaks a contact point CY1 in try play mode and a frequency command value from the MPU 46 is supplied to a frequency limiter 64. Consequently, maximum values of motors 21 and 22 are suppressed below a specific value and safe operation is carried out.
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Inventors:
KOMATSU ISAMU
Application Number:
JP944486A
Publication Date:
July 22, 1987
Filing Date:
January 20, 1986
Export Citation:
Assignee:
AIDA ENG LTD
International Classes:
B25J9/16; B25J9/22; B25J19/06; G05B19/19; G05B19/4068; (IPC1-7): B25J9/22; B25J19/06; G05B19/405
Domestic Patent References:
| JPS4716057U | 1972-10-25 | |||
| JPS5981094A | 1984-05-10 | |||
| JPS56157983A | 1981-12-05 |
Attorney, Agent or Firm:
Kinoshita Shinzo