Title:
CONTROL DEVICE FOR ROBOT
Document Type and Number:
Japanese Patent JPH0699390
Kind Code:
A
Abstract:
PURPOSE: To generate an abnormality signal when a robot is moved out of the movable range even when a servo power supply of the robot is turned off.
CONSTITUTION: The present position of a robot, displayed by an output of an encoder 8 connected to a motor 7 for driving the robot, is compared with a movable range, stored in a buffer 9, by a comparator 10. When the present position exceeds the movable range, the comparator 10 outputs an abnormality signal 11. Since a power supply of the encoder 8 is separated from a servo power supply, the abnormality signal 11 can be output even when the servo power supply is turned off.
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Inventors:
HATTORI JUNJI
Application Number:
JP27337992A
Publication Date:
April 12, 1994
Filing Date:
September 18, 1992
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP
International Classes:
B25J9/12; B25J19/06; G05B19/19; G05D3/12; (IPC1-7): B25J19/06; B25J9/12; G05B19/19; G05D3/12
Attorney, Agent or Firm:
Shinichi Kusano
Next Patent: METHOD AND DEVICE FOR CUTTING SHEET-SHAPED MATERIAL