Method of sensing abnormal condition in robot control apparatus
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United States of America Patent
Stats
-
Oct 2, 1984
Grant Date -
N/A
app pub date -
Dec 28, 1981
filing date -
Dec 30, 1980
priority date (Note) -
Expired
status (Latency Note)
Importance
Abstract
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.
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