Title:
METHOD FOR DETECTING FAILURE OF ORIGINAL POINT SWITCH IN INDUSTRIAL ROBOT
Document Type and Number:
Japanese Patent JPS60196813
Kind Code:
A
Abstract:
PURPOSE:To improve the working efficiency of a robot and to prevent the robot previously from runaway by rotating a rotary shaft in a direction changing the output of an original point switch and discriminating whether the output status of the original point switch is changed or not within a maximum regulated time to detect failure. CONSTITUTION:When the original point switch 8 is normal, light is interrupted by a dog 9 and the output of the original point switch 8 is turned to an ON signal. The original point switch 8 is decided as failure when said output is an OFF signal, and in case of the ON signal, decided as normal status and the rotary shaft 6 is rotated in the counterclockwise direction (b) at a fixed speed (v). In this case, the time required for the end point 10 of the dog 9 to move a distance L becomes Tmax=L/V, and if the original point switch 8 is in normal state, the output of the original point switch 8 may be turned from the ON signal to the OFF signal before the passage of Tmax. Therefore, the time of Tmax is controlled, and when the output of the switch 8 is turned to the OFF signal before the passage of Tmax, the switch 8 is decided as normal status. If the maximum regulated time Tmax has been passed without change of the output state, the switch 8 is decided as failure.
Inventors:
SHIRAKI SHINJI
Application Number:
JP5308084A
Publication Date:
October 05, 1985
Filing Date:
March 19, 1984
Export Citation:
Assignee:
OMRON TATEISI ELECTRONICS CO
International Classes:
B25J9/16; B25J9/10; G05B19/18; G05B19/19; G05B19/4063; (IPC1-7): B25J9/10; B25J19/00; G05B19/18; G05B19/405
Attorney, Agent or Firm:
Suzuki Yoshimitsu
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