Title:
RUNAWAY PREVENTING DEVICE FOR INDUSTRIAL ROBOT
Document Type and Number:
Japanese Patent JPS623308
Kind Code:
A
Abstract:
PURPOSE:To detect the abnormality with no time delay and to prevent previously the robot runaway be detecting and storing the phase shift of the 2-phase signal produced from a position detector and at the same time having comparison between the present phase and the preceding phase for detection of the abnormality. CONSTITUTION:A servo amplifier system 17 drives an actuator 18 and a position detector 19 delivers the 2-phase signal in response to the moving direction of the actuator 18. The phase numbers 1-4 (5-8) are given to the rise and fall timings of both phase A and B when the actuator 18 is turned clockwise (counterclockwise. Then the phase numbers are repeated in order of 7 2 3 4 1 (8 7 6 5 8). While the phase numbers are shifted to 5 from 1 like 1 5 8 7 6 5 when the actuator 18 is reversed at a time point of the phase number 1. Then the normal order of phase numbers is reset. A phase shift comparison means 15 compares the present phase with the preceding phase. Then the abnormality is detected if a phenomenon discordant with a table including a phase shift that can be possibly produced by inversion, etc.
Inventors:
IDE TOSHIHIRO
Application Number:
JP14292185A
Publication Date:
January 09, 1987
Filing Date:
June 28, 1985
Export Citation:
Assignee:
MATSUSHITA ELECTRIC IND CO LTD
International Classes:
G05B9/02; B25J9/16; B25J19/06; G05B19/19; (IPC1-7): B25J19/06; G05B9/02; G05B19/405
Attorney, Agent or Firm:
Toshio Nakao
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