JPS6433605A - Detecting device for abnormality of industrial robot - Google Patents
Detecting device for abnormality of industrial robotInfo
- Publication number
- JPS6433605A JPS6433605A JP19110387A JP19110387A JPS6433605A JP S6433605 A JPS6433605 A JP S6433605A JP 19110387 A JP19110387 A JP 19110387A JP 19110387 A JP19110387 A JP 19110387A JP S6433605 A JPS6433605 A JP S6433605A
- Authority
- JP
- Japan
- Prior art keywords
- servo abnormality
- abnormality
- time
- value
- servo
- 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.)
- Granted
Links
Landscapes
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
PURPOSE:To detect the servo abnormality in a short time by outputting a servo abnormality signal after detecting a fact that the value corresponding to the driving torque of a movable part exceeds a reference level for a prescribed time or longer. CONSTITUTION:The value corresponding to the driving torque of a drive source (motor) 5 is calculated based on an action command and the state value of the motor 5 and outputted as the torque command value. Then the time during which said torque command value is larger than a reference level is counted. A servo abnormality deciding part 110 transmits a servo abnormality signal when said counted time exceeds. Thus it is possible to detect the servo abnormality in a short time and to avoid occurrence of the robot runaway.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP62191103A JP2580190B2 (en) | 1987-07-29 | 1987-07-29 | Abnormality detection device for industrial robots |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP62191103A JP2580190B2 (en) | 1987-07-29 | 1987-07-29 | Abnormality detection device for industrial robots |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS6433605A true JPS6433605A (en) | 1989-02-03 |
JP2580190B2 JP2580190B2 (en) | 1997-02-12 |
Family
ID=16268905
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP62191103A Expired - Lifetime JP2580190B2 (en) | 1987-07-29 | 1987-07-29 | Abnormality detection device for industrial robots |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP2580190B2 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102019201569A1 (en) | 2018-02-20 | 2019-08-22 | Fanuc Corporation | Servo-control means |
JP2021109294A (en) * | 2020-01-15 | 2021-08-02 | セイコーエプソン株式会社 | Robot control method and robot system |
CN113686569A (en) * | 2021-08-19 | 2021-11-23 | 深圳市汇川技术股份有限公司 | Transmission mechanism torque detection method, device, equipment and storage medium |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS61152351A (en) * | 1984-12-26 | 1986-07-11 | Toyoda Mach Works Ltd | Machine tool with function of returning to original position |
-
1987
- 1987-07-29 JP JP62191103A patent/JP2580190B2/en not_active Expired - Lifetime
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS61152351A (en) * | 1984-12-26 | 1986-07-11 | Toyoda Mach Works Ltd | Machine tool with function of returning to original position |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102019201569A1 (en) | 2018-02-20 | 2019-08-22 | Fanuc Corporation | Servo-control means |
CN110174873A (en) * | 2018-02-20 | 2019-08-27 | 发那科株式会社 | Servocontrol device |
CN110174873B (en) * | 2018-02-20 | 2021-03-30 | 发那科株式会社 | Servo control device |
US10996654B2 (en) | 2018-02-20 | 2021-05-04 | Fanuc Corporation | Servo controller |
JP2021109294A (en) * | 2020-01-15 | 2021-08-02 | セイコーエプソン株式会社 | Robot control method and robot system |
CN113686569A (en) * | 2021-08-19 | 2021-11-23 | 深圳市汇川技术股份有限公司 | Transmission mechanism torque detection method, device, equipment and storage medium |
Also Published As
Publication number | Publication date |
---|---|
JP2580190B2 (en) | 1997-02-12 |
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