Title:
ENCODER ABNORMALITY DETECTION METHOD
Document Type and Number:
WIPO Patent Application WO/2019/031218
Kind Code:
A1
Abstract:
A robot is provided with a motor and an encoder for detecting the rotational position of the motor, wherein a controller outputs a speed command instructing the rotational position of the motor and outputs command position information to a safety unit for detecting an encoder abnormality, said command position information indicating the motor rotational position according to the speed command. Whereas the origin information of the motor is changed and the changed origin information is held in the controller as new origin information, when the origin information before the change is held in the safety unit, the controller sends the command position information generated on the basis of the origin information before the change to the safety unit.
Inventors:
KINUGASA YASUHIRO
Application Number:
PCT/JP2018/027584
Publication Date:
February 14, 2019
Filing Date:
July 24, 2018
Export Citation:
Assignee:
PANASONIC IP MAN CO LTD (JP)
International Classes:
H02P29/024; B25J19/06; G01D5/244; G05D3/12
Foreign References:
| JP2015090307A | 2015-05-11 | |||
| JP2009183027A | 2009-08-13 | |||
| JP2008092620A | 2008-04-17 | |||
| JP2008048579A | 2008-02-28 |
Attorney, Agent or Firm:
KAMATA Kenji et al. (JP)
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