Title:
MOTOR DRIVING METHOD IN INDUSTRIAL ROBOT
Document Type and Number:
WIPO Patent Application WO/1989/004514
Kind Code:
A1
Abstract:
This invention provides a motor driving method which can prevent the operation stop of an industrial robot and the occurrence of deviation of a moving orbit from an instructed orbit resulting from the occurrence of an overload of a motor. An output torque instruction value of a motor for each axis of the robot is detected (S1) and when any of the detected values exceeds a predetermined value which is determined in accordance with the maximum one of the ouptut torques of motors for individual axes, a moving instruction value per unit time is reduced for all the axes by use of the product of a coefficient determined in accordance with the torque instruction value thus increased and its differential value and an override value (S3, S6, S14) so as to prevent the occurrence of the overload state of the motor.
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Inventors:
TORII NOBUTOSHI (JP)
NIHEI RYO (JP)
KIKUCHI JUN (JP)
NIHEI RYO (JP)
KIKUCHI JUN (JP)
Application Number:
PCT/JP1988/001107
Publication Date:
May 18, 1989
Filing Date:
October 29, 1988
Export Citation:
Assignee:
FANUC LTD (JP)
International Classes:
H02P29/00; B25J9/16; B25J9/18; G05B19/4062; G05B19/416; (IPC1-7): G05B19/407; B25J9/16; G05B19/18
Foreign References:
| JPS61114317A | 1986-06-02 | |||
| JPH06228810A | 1994-08-16 | |||
| JPH0639204A | 1994-02-15 | |||
| JPH0693510A | 1994-04-05 |
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