JPS63100184U - - Google Patents
Info
- Publication number
- JPS63100184U JPS63100184U JP19598886U JP19598886U JPS63100184U JP S63100184 U JPS63100184 U JP S63100184U JP 19598886 U JP19598886 U JP 19598886U JP 19598886 U JP19598886 U JP 19598886U JP S63100184 U JPS63100184 U JP S63100184U
- Authority
- JP
- Japan
- Prior art keywords
- servo driver
- load current
- speed command
- command voltage
- set value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000005856 abnormality Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 1
Landscapes
- Safety Devices In Control Systems (AREA)
Description
第1図、第2図a、第3図a、第4図aは各々
負荷電流を示すグラフ、第2図b、第3図b、第
4図bは各々速度指令電圧を示すグラフ、第5図
は本考案の一実施例を示す装置ブロツク図である
。
図面中、1はモータ、2はサーボドライバ、3
はアンプ、4はローパスフイルタ、5はマルチプ
レクサ、6はA/D変換器、7は中央演算処理装
置、8は記憶装置、9はリレーである。
Figures 1, 2a, 3a, and 4a are graphs showing the load current, Figures 2b, 3b, and 4b are graphs showing the speed command voltage, respectively. FIG. 5 is a block diagram of an apparatus showing an embodiment of the present invention. In the drawing, 1 is a motor, 2 is a servo driver, and 3 is a motor.
is an amplifier, 4 is a low-pass filter, 5 is a multiplexer, 6 is an A/D converter, 7 is a central processing unit, 8 is a storage device, and 9 is a relay.
Claims (1)
を作動させるロボツトにおいて、前記各モータの
負荷電流が設定レベルを設定時間以上の間越えた
時、又は前記各モータの負荷電流が設定レベルを
越えた時であつて前記サーボドライバへの速度指
令電圧の変化が設定値より小さい時、又は前記各
モータの負荷電流の変化が設定値以上の時であつ
て前記サーボドライバへの速度指令電圧が設定値
より小さい時、又は前記サーボドライバへの速度
指令電圧が設定レベルを越えた時のいずれかの時
に、異常と判断し、ロボツト制御盤への停止信号
を出力することを特徴とするロボツトアームの過
負荷検出装置。 In a robot that operates an arm by driving a motor with a servo driver, when the load current of each of the motors exceeds the set level for a set time or more, or when the load current of each of the motors exceeds the set level. when the change in the speed command voltage to the servo driver is smaller than the set value, or when the change in the load current of each motor is more than the set value and the speed command voltage to the servo driver is smaller than the set value. or when the speed command voltage to the servo driver exceeds a set level, it is determined that there is an abnormality and outputs a stop signal to the robot control panel. .
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP19598886U JPS63100184U (en) | 1986-12-22 | 1986-12-22 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP19598886U JPS63100184U (en) | 1986-12-22 | 1986-12-22 |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS63100184U true JPS63100184U (en) | 1988-06-29 |
Family
ID=31154387
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP19598886U Pending JPS63100184U (en) | 1986-12-22 | 1986-12-22 |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS63100184U (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006142470A (en) * | 2004-10-19 | 2006-06-08 | Honda Motor Co Ltd | Robot overcurrent prevention system |
JP2013177214A (en) * | 2012-02-28 | 2013-09-09 | Daifuku Co Ltd | Article transfer device |
WO2022123616A1 (en) * | 2020-12-07 | 2022-06-16 | 株式会社ソニー・インタラクティブエンタテインメント | Information processing device, information processing method, and program |
-
1986
- 1986-12-22 JP JP19598886U patent/JPS63100184U/ja active Pending
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006142470A (en) * | 2004-10-19 | 2006-06-08 | Honda Motor Co Ltd | Robot overcurrent prevention system |
JP2013177214A (en) * | 2012-02-28 | 2013-09-09 | Daifuku Co Ltd | Article transfer device |
WO2022123616A1 (en) * | 2020-12-07 | 2022-06-16 | 株式会社ソニー・インタラクティブエンタテインメント | Information processing device, information processing method, and program |