Multiaxis robot control having improved energy monitoring system for protecting robots against joint motor overload
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United States of America Patent
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-
Sep 5, 1989
Issued Date -
N/A
app pub date -
Apr 6, 1988
filing date -
Nov 20, 1986
priority date (Note) -
Expired
status (Latency Note)
Importance
Abstract
A digital robot control includes a position/velocity microprocessor control and a torque microprocessor control for each of multiple robot axes. Digital position, velocity and motor current feedback signals are generated from motor sensor signals for use in making microprocessor control calculations. Another motor sensor generates an overlimit signal when motor temperature rises above a limit value to indicate excessive motor current. The torque microprocessor makes a backup motor energy calculation from the feedback motor current signal from each joint motor and compares the result to a stored motor energy limit. The robot is shut down if either limit is exceeded.
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