JP2005050125A - Robot controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot controller capable of cutting off a driving power source and a control power source of a robot by itself in order to save energy after a predetermined operation is completed in production equipment using the robot. <P>SOLUTION: In this controller, a power source cutting-off instruction is registered in the operation program of the robot. Thus, the instruction is executed after the predetermined operation is completed, hereby cutting off the driving power source and the control power source of the robot. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a robot control apparatus that performs power-off processing of a robot axis drive power supply and a control power supply by the robot control apparatus itself.

In a production facility that uses a conventional robot to perform work, at the end of a continuous work, it enters a start input waiting state for the next work. In this state, the robot drive power and control power remain on. there were. That is, for example, when the work is completed at midnight, the robot drive power supply and control power supply are kept on and the next work start input waiting state is awaited. When the operation is completed, if the drive power source and the control power source are turned on as described above, useless power energy is consumed. In addition, if the operation is completed and the robot is not in operation and the operator is absent, if an accidental failure of a control part in the robot controller or a short circuit of the wire occurs, the operator can quickly shut off the power. Since it cannot be treated, it has the potential to cause damage and damage.
In view of this, a proposal has been made to provide a means for inputting a power-off command from the outside to the robot control device, and to turn off the power from an external device (for example, see Patent Document 1).

The numerical control device described in Patent Document 1 receives a power-off signal from an external device, and cuts off the power after normal termination of communication with the external device. In order to apply this method to the robot control device and shut off the power after the operation of the robot is completed, an external control device that waits for the completion of the operation and outputs a power-off signal to the robot control device is required. This external control device must grasp the state of the work by the robot and output it after waiting for completion of the work. For this reason, a control device such as a PLC capable of monitoring the work state is required.
In the case of a medium-scale or large-scale production facility, the control device (for example, PLC) performs overall management of the production facility, and the power supply of the robot can be cut off by using this control device.
Japanese Patent Laid-Open No. 11-353059

In a conventional robot control device, a small-scale production facility with a single robot is rarely equipped with an external control device, and in this case, the power cannot be shut off when the operation is completed. For example, when work is started in the evening, in a situation where all of the work is completed at midnight and no man is present, the conventional robot control device cannot consume its power and consumes useless energy. In addition, when a short-circuit accident occurs in the wiring around the robot or robot controller, power is supplied to the robot. There was a problem of increased damage. In order to avoid this problem, since it is necessary to prepare an external control device, there is a problem that the cost required for the introduction and maintenance of a small-scale production system increases.
Therefore, the present invention has been made in view of such problems, and based on the execution of a predetermined command registered in the work program, the robot drive power is shut off and the control power is shut off. An object of the present invention is to provide a robot control device capable of performing the above.

In order to solve the above problem, the present invention is configured as follows.
The invention according to claim 1 includes a relay that turns on and off the driving power of the robot, and a control power supply that supplies control power to a control unit that controls the relay, and the control unit includes In a robot control device that drives and controls the robot based on instructions of a stored work program, a power supply circuit that cuts off power supplied to the control power supply device is provided,
Based on a predetermined command of the work program, the relay drive power is cut off by the relay, and the power supply to the control power supply device is cut off by the power circuit.
The invention described in claim 2 is characterized in that the predetermined command of the work program is a power-off command.
The invention described in claim 3 is characterized in that the predetermined instruction of the work program is an end instruction of the work program.
According to a fourth aspect of the present invention, when the robot control device is in the teaching mode, the predetermined instruction of the work program is supplied to the power supply device for control by the power supply circuit and the power supply circuit for cutting off the driving power of the robot. The power supply is not shut off.
According to a fifth aspect of the present invention, the predetermined instruction of the work program is based on the additional information registered in advance in the predetermined instruction and the input signal to the input means provided in the robot control device. The robot drive power supply is not cut off and the power supply to the control power supply device is not cut off by the power supply circuit.

According to the first aspect of the present invention, when the robot completes the operation even in an unmanned state and executes a predetermined command, the control power supply of the robot control device can be cut off, and wasteful energy consumption is eliminated and wiring is performed. Damage caused by a short-circuit accident can be minimized.
According to the second aspect of the present invention, since the predetermined command is a power-off command, the operator can easily distinguish it from other commands.
According to the third aspect of the present invention, since the predetermined instruction is an end instruction indicating the end of the work program, the present invention can be implemented while maintaining compatibility with an existing work program.
According to the fourth aspect of the present invention, in the teaching mode in which the operator confirms the entire work program after registration or editing of the work program, the power supply is not cut off during the work, so that the teaching work can be performed without interruption.
According to the invention described in claim 5, registration as invalidating power-off is added as additional information of the predetermined command, or an input invalidating power-off is assigned to an input provided in the robot control device, By receiving the input, the power is not shut off even if the predetermined command is executed, and the power can be kept from being shut off when other work is continued after the work is completed.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a schematic diagram of a production facility according to an embodiment of the present invention. However, a safety fence not related to the present invention is not shown. In the figure, the robot 1 is connected to the robot control device 2, and the teaching operation panel 3 is also connected to the robot control device 2. Reference numeral 9 denotes a workpiece transfer device which is connected to the robot control device 2 and carries the workpiece 8 into and out of the workpiece work table 7 based on instructions from the robot control device 2.
In the robot control device 2, the work procedure for the work 8 is performed by pressing the operation start switch 10 after selecting the work program 12 taught by the teaching operation panel 3 stored in the work program storage means 11 on the teaching operation panel 3. The command of the registered work program 12 is executed and the work is performed.

  FIG. 2 is a control block diagram of the robot controller 2 in the embodiment of the present invention. In the figure, the robot control device 2 is supplied with power supply 20 from the outside, and is branched and connected to a power supply circuit 22 and a relay 23 through a disconnecting device 21 constituted by a circuit breaker, a fuse and the like. The relay 23 relays and interrupts the power supply path connected to the drive power supply device 24 by the drive power supply control signal 40 output from the drive power supply control circuit 39 provided in the control unit 30. The drive power supply device 24 supplies drive power to the drive unit 25, and the drive unit 25 controls drive power with a drive control signal 38 output from the drive control circuit 37 provided in the control unit 30 to drive the robot 1. Work.

  The power supply circuit 22 cuts off the power supply path to the control power supply device 26 by a control power cut-off signal 36 output from the power cut-off control circuit 35 provided in the control unit 30. The control power supply device 26 supplies a power supply voltage used for control inside the robot control device 2 and a voltage such as DC 24V used for input / output. Reference numeral 30 denotes a control unit that receives the supply of a voltage required from the control power supply device 26 from the control power supply path 27 and controls the robot 1.

  The control unit 30 includes a CPU 31 that performs overall control of the robot 1, a storage unit 32 that stores a control program, a work program storage unit 11 that stores a work program 12, a signal of an operation start switch 10 provided in the robot control device 2, and An input interface 33 for inputting a signal from the outside, an output interface 34 for outputting a signal to the outside of the robot controller 2, a power cutoff control circuit 35 for outputting a control power cutoff signal 36 to the power supply circuit 22, and driving to the drive unit 25. A drive control circuit 37 that outputs a control signal 38, a reset signal generation circuit 41 that generates a reset signal when power is supplied to the control power supply 26 and supply of control power is started, and the like.

  The workpiece transfer device 9 is connected to the workpiece transfer device 9 via the input interface 33 and the input line 15 and via the output interface 34 and the output line 16. In the work transfer device 9, the unprocessed work is carried into the work table 7 and the processed work 8 is taken out by a command signal assigned to the output interface. A detector 17 for detecting the presence or absence of an unmachined workpiece is provided, and a detection signal is input to the input interface 33 through the input line 15. Reference numeral 18 denotes an operation panel, which includes an emergency stop switch and a plurality of operation input switches, to which an operator selects a work program, an operation start command, and a power shut-off invalid command.

  When power is supplied to the control power supply 26 and a control voltage is started to be supplied to the control unit 30, a reset signal is output from the reset signal generation circuit 41, and various circuits in the control unit 30 are initialized. The CPU 31 performs self-diagnosis of the robot system and initial setting for subsequent operations based on the control program stored in the storage means 32. Thereafter, a drive power supply control signal 39 is output from the drive power supply control circuit 39 in response to a drive power supply input command (not shown), and the relay 23 relays and supplies power to the drive power supply device 24. The drive power supply 24 supplies drive power to the drive unit 25. The drive unit 25 controls drive power based on the drive control signal 38, and a drive current is supplied to a drive shaft (not shown) of the robot 1. Ready to work. Although there are cases where the drive shaft of the robot 1 is equipped with an electromagnetic brake, explanation of the control of the electromagnetic brake is omitted.

FIG. 3 shows an example of the work program 12 in which the work procedure for the work 8 stored in the work program storage means 11 is registered. In the figure,
Step S1 is a no-operation command, and the robot 1 does not perform any operation. This step S1 indicates the beginning of the work program.
Step S2 is a conditional branch instruction with label L1. This instruction determines whether or not there is an input signal to input number 1 (IN # 1), and branches to label L2 if the condition is met. In this embodiment, the input number 1 is assigned to the input signal from the detector 17 provided in the work transfer device 9, and if there is no incoming signal, that is, there is no unprocessed work, the process branches to the label L2 (step S11). If there is an incoming call, that is, if there is an unprocessed workpiece, the process proceeds to step S3.
In step S3, an ON pulse of 0.5 seconds is output to output number 1 (OUT # 1). In this embodiment, the output number 1 is connected to the work transfer device 9, and this pulse signal is a command for supplying an unprocessed work to the work work table 7 by the work supply device 9. When this pulse signal is input, the workpiece supply device 9 carries the unprocessed workpiece into the workpiece work table 7.
Step S4 is a command for waiting until input number 2 (IN # 2) is received. In this embodiment, this input number 2 is assigned as a workpiece carry-in completion signal. The input number 2 is connected to the workpiece supply device 9, and when the loading of the workpiece 8 to the work table 7 is completed, “ON” is output, and the process proceeds to the next step S5. The workpiece carry-in completion signal may be output from a detector (not shown) equipped with the workpiece work table 7.

Steps S5, S6, and S7 are command groups that actually perform work on the workpiece 8. The command group that performs the actual work is composed of robot 1 operation commands, machining tool (not shown) on / off commands, input commands, output commands, branch commands, etc., and works according to the registered commands. 8 is performed.
In step S8, an ON pulse of 0.5 seconds is output to output number 2 (OUT # 2). In this embodiment, the output number 2 is connected to the workpiece transfer device 9, and this pulse signal is a command to carry out the workpiece 8 processed by the workpiece supply device 9 from the workpiece work table 7. When the workpiece supply device 9 receives this pulse signal, the workpiece supply device 9 unloads the processed workpiece 8 from the workpiece work table 7.
Step S9 is a command to wait until input number 3 (IN # 3) is received. In the present embodiment, this input number 3 is assigned as a workpiece unloading completion signal. The input number 3 is connected to a detector (not shown) provided in the work supply device 9, and a signal is output from the work table 7 when the work 8 has been unloaded, and the process proceeds to the next step S10.
Step S10 is an unconditional branch instruction to the label L1, and the process proceeds to step S2 to which the label L1 is attached.
Step S11 is a power-off command for implementing the present invention labeled L2. By executing this command, the power supply for control is shut off after the drive power supply to the robot 1 is shut off.
Step S12 is an end command, but the robot 1 does not operate as in the no-operation command. This end command indicates the end of the work program.

  As a work procedure for an unmachined workpiece by the robot 1, first, a work program 12 in which the work procedure for the workpiece stored in the work program storage unit 11 is programmed is selected. This selection is performed by operating the teaching operation panel 3, a method performed by receiving a work program 12 selection signal assigned to the input interface, and a work program 12 from the host controller via a communication interface (not shown) provided in the control unit 30. There are methods that use selection commands.

  Next, the operation start switch 10 of the robot control device 2 is operated. The signal of the operation start switch 10 is received by the input / output interface 33, and the operation of the robot 1 is started as work on the workpiece based on the selected work program 12. In addition to the above, the operation start may be performed by receiving a signal assigned to the operation start from the input interface 33 or by an operation start command from the host controller via a communication interface (not shown) provided in the control unit 30.

Based on the work program 12, the robot control device 2 repeatedly supplies an unmachined workpiece from the workpiece transfer device 9, performs a machining operation on the workpiece 8 by the robot 1, and unloads the workpiece 8 by the workpiece transfer device 9.
When there is no unprocessed workpiece prepared in the workpiece transfer device 9 and no signal is received from the detector 17, the operation program 12 branches from step S2 to step S11, and the power-off command registered in step S11. Execute.

The power cutoff command first turns off the relay 23 by turning off the drive power control signal 40 output from the drive power control circuit 39 to shut off the power supply path connected to the drive power supply 24. When the power is shut off, energy cannot be supplied to a motor (not shown) provided in the robot 1 and its operation stops. At this time, if the motor has an electromagnetic brake, the brake is applied. Next, the control power supply cutoff signal 36 output from the power supply cutoff control circuit 35 is turned on to cut off the power supply path to the control power supply device 26.
If the operation input switch for issuing the power shutoff invalid command provided in the operation panel 18 is closed and the power shutoff invalid command is in the incoming state, the power shutoff command corresponds to the no operation command and the power shutoff is not performed.
Even if additional information (operand) for invalidating the power shutdown is added to the power shutdown command in step S11, the robot 1 is not operated corresponding to the aforementioned no-operation command, and the power shutdown is not performed. The command in this case is “POFF 1”.

FIG. 4 shows the configuration and control block of the power supply circuit 22 that cuts off the power supply path to the control power supply device 26.
In the figure, the power source 20 is connected to the disconnecting device 21 of the robot controller 2, and is branched and connected from the disconnecting device 21 to the relay 23 and the power supply circuit 22.
The power supply circuit 22 includes a circuit line of a control power supply switch 51 of a normally open contact, a series connection circuit line of a control power cutoff switch 52 of a normally closed contact, a normally closed contact 52b of a relay B53, and a normally open contact 54a of a relay A54. Are connected in parallel and connected to relay A54. The relay B 53 is connected to a power cutoff control circuit 35 in the control unit 30 and is driven by a control power cutoff signal 36. The control power on switch 51 and the control power cutoff switch 52 are momentary type switches.
The power shutoff control circuit 35 includes a holding circuit 45 and an amplifier circuit 46. The holding circuit 45 is, for example, a flip-flop, and its output is turned off by a reset signal output from the reset signal generation circuit 41 and turned on by a set signal output from the CPU 31. The output of the holding circuit 45 is amplified by the amplifier circuit 46 and the relay B53 is driven.

By depressing the control power supply switch 51 while the disconnecting device 21 is in a relay state, the contact is closed, the relay A54 is energized and excited, and the normally open contact 54a of the relay A54 is closed.
Here, since the control power supply switch 51 is a momentary type, even if it is not pressed and the contact is opened, the control power cut-off switch 52, the normally closed contact 53b of the relay B53, and the normally open contact 54a of the closed relay A54 are connected in series. The circuit line thus formed forms a self-holding circuit in which the relay A54 is energized and excited.
Along with the formation of the self-holding circuit, power is also supplied to the control power supply device 26 connected in parallel. The control power supply device 26 generates a control voltage and supplies it to the control unit 30 via the control power supply path 27. Is done.

  When the control power supply is cut off by the operator's operation, the control power cut-off switch 52 is pressed, the control power cut-off switch 52 connected in series, the normally closed contact 53b of the relay B53, and the normally opened relay A54 is opened. The circuit line of the contact 54a is opened, the exciting current to the relay A54 is cut off to release the above self-holding state, and the power supply to the control power supply device 26 is also cut off. That is, the control power supply of the robot controller 2 is cut off.

When the control power supply switch 51 is pressed to supply power to the control power supply device 26 and a control voltage is supplied to the control unit 30, the rise of the voltage is detected and a reset signal is generated from the reset signal generation circuit 41. Then, the CPU 31 and the control power supply cutoff control circuit 35 are supplied to predetermined portions of the control unit 30, and various circuits in the control unit 30 control unit 30 are initialized.
When the reset signal from the reset signal generation circuit 41 is input to the holding circuit 45 of the control power cut-off circuit 35, the hold is released, that is, turned off. The relay B53 is not energized and energized, the normally closed contact 53b of the relay B53 is closed, and the control is performed without hindering the formation of the self-holding circuit for the relay A54 described above. The power supply device 26 is continuously supplied with power.

When the power cut-off command in the work program 11 is executed, the CPU 31 first turns off the output of the drive power supply control circuit 39 and cuts off the relay 23 via the drive power supply control signal 40, thereby supplying power to the drive power supply device 24. It stops and the operation of the drive shaft of the robot 1 stops. At this time, if the drive shaft of the robot 1 is equipped with an electromagnetic brake, the brake is applied to prevent the robot arm from dropping due to gravity.
Next, when the CPU 31 outputs a set signal to the holding circuit 45 of the control power cut-off circuit 35, the holding circuit 45 is turned on. This on-state signal is amplified by the amplifier circuit 46 and supplied to the relay B53 as the control power cutoff signal 36. The relay B53 is energized and energized, thereby opening the normally closed contact 53b of the relay B53. When the normally closed contact 53b of the relay B53 is opened, the self-holding circuit of the relay A54 is released, the excitation of the relay A54 is released, and the normally open contact 54a of the relay A54 is opened. Even if the normally closed contact 53b of the relay is closed, the relay A54 is not energized. When the power supply to the control power supply device 26 connected in parallel to the relay A54 is cut off, the control power supply is shut off.
When the control power supply 26 is cut off, the power supply to the amplifier circuit 46 is cut off, and the voltage for energizing the relay B53 disappears. Therefore, the normally closed contact 53b of the relay B53 is closed, and the next control power supply is turned off. Prepare for launch.

  The present invention is different from Patent Document 1 in the numerical control device described in Patent Document 1. In order to shut off the drive power supply and the control power supply, a power-off signal is supplied from a power-off means such as a switch from the outside of the numerical control device. Although it is necessary to input, in the present invention, the drive power supply command and the control power supply are shut off without any external intervention by a power shutoff command registered as a work program.

FIG. 5 is an example of the second work program 13 showing the second embodiment of the present invention. In the figure, step S21 is the same as the no-operation instruction same as step S1 in FIG.
Step S22 is a conditional branch instruction with label L11. This instruction determines whether or not there is an input signal to input number 1 (IN # 1), and branches to label L21 when the condition is satisfied. In this embodiment, the input number 1 is assigned to the input signal from the detector 17 provided in the workpiece transfer device 9, and if there is no incoming signal, that is, there is no unprocessed workpiece, the process branches to the label L21 (step S27). If there is an incoming call, that is, if there is an unprocessed workpiece, the process proceeds to step S23.
Steps S23, S24, and S25 are command groups for carrying in and out the work 8 and actually performing work on the work 8, and correspond to steps S3 to S9 in FIG.
Step S26 is an unconditional branch instruction to the label L11, and the process proceeds to step S22 to which the label L11 is attached.
Step S27 is an end command, but this end command with additional information added to the “END” command indicates the end of the second work program 13 and also serves as a power-off command. That is, when this command is executed, the power supply described in the first embodiment is shut off.

  In order to add additional information to the end command, the robot is set to the teaching mode and additional information is added to the corresponding end command on the teaching operation panel 3. Similarly, creation and editing of the work program is performed on the teaching operation panel 3 in the teaching mode.

In some cases, it is confirmed by executing the work program whether the work procedure registered in the work program is a correct work for the work 8. In this confirmation, the robot operates while the predetermined key switch is pressed on the teaching operation panel 3, and the robot has a hold-to-run function that stops when the press is stopped. When the power cut-off command is reached, the power is not cut off.
In order to perform power shutdown in this way, the CPU 31 can identify the power shutdown by adding additional information that clearly indicates power shutdown to the end command registered in the existing work program. Compatibility can be maintained. Further, the confirmation of the work program in the teaching mode is performed by the operator, and the teaching operation can be continuously performed.

FIG. 6 is a process flowchart for carrying out the present invention. Work procedures are registered with various instructions in the work program, and work is performed by sequentially executing these instructions. This flowchart is an example of a power-off instruction according to the present invention, and includes a “POFF” instruction and an “END” instruction. It is processing of. In the figure, step S31 is the beginning of the “END instruction” and proceeds to step S33, and step S32 is the beginning of the “POFF instruction” and proceeds to step S35.
In step S33, it is determined whether the “END” instruction is the end of the main work program or the end of the sub work program. If it is the end of the sub work program, the process proceeds to step S34, and if it is the end of the main work program, the process proceeds to step S35. The main work program is a work program that has been selected and started operation, and the sub work program is a work program that is called from the main work program, performs work, and returns to the caller work program after work, or from the sub work program It is a work program that is called to perform work and returns to the caller work program after the work.
Step S34 is a case where “END” is a sub work program, and this work program is returned to the caller work program.
In step S35, it is determined whether the teaching mode is set. If it is in the teaching mode, the process ends. If it is outside the teaching mode, the process proceeds to step S36. In the case of the beginning of the “POFF command” (step S32), the processing is started from this step.
In step S36, it is determined whether or not there is additional information indicating that the power supply is disabled in the command. If there is no additional information indicating that the power shut-off is invalid, the process proceeds to step S37.
In step S37, it is determined whether or not a command interruption indicating that the power shut-off is invalid is received from the input interface 33. If there is no reception, the process proceeds to step S38, and if there is, the process ends.

In step S38, the drive power of the robot 1 is shut off. Specifically, the CPU 31 turns off the output of the drive power supply control circuit 39 and shuts off the relay 23.
In step S39, the driving shaft of the robot 1 is braked on the driving shaft provided with an electromagnetic brake. A description of brake control is omitted.
In step S40, the energy stored in the drive power supply device 24 is released. Explanation of energy release means is omitted.
In step S41, the control power supply is shut off. Specifically, the CPU 31 outputs a set signal to the holding circuit 45 of the power shutoff control circuit 35.
Since this type of command processing is performed, the “END” command can be used interchangeably with existing commands that do not have additional information, and the power supply for control can be turned off arbitrarily by adding additional information in the command or by externally turning off the power supply. In the teaching mode, the control power supply can be cut off.

  As described above, according to the robot control device of the present invention, the robot power supply can be shut off and the control power of the robot control device can be turned off without operator intervention by executing the power-off command registered in the work program. Since it can be cut off, it can also be applied to a numerical control device, a PLC, etc., which are control devices described in a program.

Overview of production facilities in an embodiment of the present invention Control block diagram of the robot controller of the first embodiment of the present invention The figure which shows a part of work program in the 1st Embodiment of this invention The figure which shows the power supply circuit structure and control block in the 1st Embodiment of this invention. The figure which shows a part of 2nd work program in the 2nd Embodiment of this invention. Process flowchart in the implementation of the present invention

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Robot 2 Robot controller 3 Teaching operation panel 4 Host controller 7 Work work table 8 Work 9 Work transfer device 10 Operation start switch 11 Work program storage means 12 Work program 13 Second work program 15 Input line 16 Output line 17 Detector 18 Operation Panel 20 Power Supply 21 Disconnect Device 22 Power Supply Circuit 23 Relay 24 Drive Power Supply Device 25 Drive Unit 26 Control Power Supply Device 27 Control Power Supply Route 30 Control Unit 31 CPU
32 Storage means 33 Input interface 34 Output interface 35 Power supply cutoff control circuit 36 Control power supply cutoff signal 37 Drive control circuit 38 Drive control signal 39 Drive power supply control circuit 40 Drive power supply control signal 41 Reset signal generation circuit 45 Holding circuit 46 Amplifying circuit 51 Control Power on switch 52 Control power cut off switch 53 Relay B
54 Relay A

Claims (5)

A relay for turning on and off the driving power of the robot, and a control power supply for supplying a control power to a control unit for controlling the relay, according to instructions of a work program stored in the control unit In a robot control device for driving and controlling the robot based on
A power supply circuit that cuts off power supplied to the control power supply device;
A robot control apparatus characterized in that, based on a predetermined command of the work program, the relay drive power is shut off by the relay, and the power supply to the control power supply is shut off by the power circuit.   The robot control apparatus according to claim 1, wherein the predetermined command of the work program is a power-off command.   The robot control apparatus according to claim 1, wherein the predetermined instruction of the work program is an end instruction of the work program.   The predetermined instruction of the work program is, when the robot control device is in the teaching mode, cutting off the driving power of the robot by the relay and cutting off the power supply to the control power device by the power circuit. The robot control apparatus according to claim 1, wherein the robot control apparatus is not provided. The predetermined command of the work program is based on the additional information registered in advance in the predetermined command and the input signal to the input means provided in the robot control device, and the power supply to the robot is shut off by the relay. 4. The robot control device according to claim 1, wherein the power supply circuit does not cut off the power supply to the control power supply device.

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