초록 ▼

Disclosed is a method of sensing an overload abnormality in a robot control apparatus for controlling a robot on the basis of instructive data. A motor for driving the robot has the upper and lower limits of its drive current or of its driving power set in advance. Then, when the robot is operating

Disclosed is a method of sensing an overload abnormality in a robot control apparatus for controlling a robot on the basis of instructive data. A motor for driving the robot has the upper and lower limits of its drive current or of its driving power set in advance. Then, when the robot is operating in the playback mode, the value of the drive current or power is monitored, and an operation is performed to check whether the value of the motor drive current or power is within the range of the set limit values, enabling an overload abnormality to be sensed. In accordance with the inventive method an instruction for checking the motor drive current or power is inserted beforehand at a proper location in the instructive data. When said instruction is read, a discrimination operation is performed to determine whether the drive current or power is within the range of the limit values.

대표청구항 ▼

A method of sensing an abnormal condition in a robot control apparatus for operating in accordance with instructive data a robot, having at least one motor, a limit value teaching mode and a playback mode of operation, said method comprising the steps of: (a) operating the robot in accordance with s

A method of sensing an abnormal condition in a robot control apparatus for operating in accordance with instructive data a robot, having at least one motor, a limit value teaching mode and a playback mode of operation, said method comprising the steps of: (a) operating the robot in accordance with said instructive data in said limit value teaching mode; (b) reading the value of a motor drive current of said motor in said limit value teaching mode of operation; (c) setting limit values computed in accordance with said value of the drive current; (d) sensing the value of the motor drive current in said robot playback mode; (e) monitoring the sensed value to determine whether it is outside the range of the limit values; and (f) generating an alarm signal when the sensed value is outside the range of the limit values.