초록

In an industrial robot employing electric motors (Mz, Mqqqq30), the detected electric drive current supplied to the electric motor (Mz, Mqqqq40 ) to enable an operator to ascertain the propriety of the motions of the functional robot units (16, 18, 20, 22, 24,) including robot arms.

대표청구항 ▼

A method of ascertaining motion abilities of an industrial robot employing electric motors as drive sources, respectively, for driving functional robot units for movement respectively about a plurality of articulatory axes, comprising steps of: detecting electric drive currents supplied respectively

A method of ascertaining motion abilities of an industrial robot employing electric motors as drive sources, respectively, for driving functional robot units for movement respectively about a plurality of articulatory axes, comprising steps of: detecting electric drive currents supplied respectively to said electric motors associated with the articulatory axes; sampling the detected electric drive current supplied to said electric motor associated with one selected articulatory axis among said plurality of articulatory axes at each predetermined minute sampling time in a period between a first time and a second time in a robot control program for controlling the motions of said functional robot units about the corresponding articulatory axes, and calculating the ratio of the root-mean-square value of the electric current supplied to said electric motor to the rated current of the same electric motor; and displaying the root-mean-square values of the sample electric currents, and the ratios each of the root-mean-square value of the electric current supplied to said electric motor to the rated current of the same electric motor; whereby an operator can ascertain the propriety of the motions of said industrial robot.