JPH0313501U

JPH0313501U -

Info

Publication number: JPH0313501U
Application number: JP7364289U
Authority: JP
Priority date: 1989-06-26
Filing date: 1989-06-26
Publication date: 1991-02-12

Description

[Brief explanation of drawings]

第１図は本考案を適用したロボツトの機能縮退
制御装置の構成例を示す図、第２図はコントロー
ラの演算部の構成例を示す図、第３図は正常時の
コントローラの動作シーケンスを示す図、第４図
はＣＨ２（Ｂ軸側）のパワーアンプが故障したと
きのコントローラの動作シーケンスを示す図、第
５図は出力信号切換器の構成例を示す図、第６図
は従来の装置例を示す図、第７図は２軸のロボツ
トを示す図である。図面中、１０１……コントローラ、１２２，１
２３……パワーアンプ、１３０……出力信号切換
器、１４０，１４１……サーボモータ、１６０，
１６１……位置検出器、１０１１……シリアルポ
ート、１０１２，１０１４，１０１７……減算器
、１０１３，１０１５，１０１８…ゲイン器、１
０１６……シフトレジスタ、１０１９……タイミ
ング発生器、１０２０……切換指令発生器、１０
２１……カウンター回路、１０２２……Ｄ／Ａコ
ンバータ、１０２３……デジタル信号出力回路で
ある。 Fig. 1 is a diagram showing an example of the configuration of a functional regression control device for a robot to which the present invention is applied, Fig. 2 is a diagram showing an example of the configuration of the calculation section of the controller, and Fig. 3 is a diagram showing the operation sequence of the controller during normal operation. Figure 4 is a diagram showing the operation sequence of the controller when the power amplifier of CH2 (B axis side) fails, Figure 5 is a diagram showing an example of the configuration of the output signal switch, and Figure 6 is a diagram of the conventional device. A diagram showing an example, FIG. 7, is a diagram showing a two-axis robot. In the drawing, 101...controller, 122,1
23...Power amplifier, 130...Output signal switcher, 140, 141...Servo motor, 160,
161... Position detector, 1011... Serial port, 1012, 1014, 1017... Subtractor, 1013, 1015, 1018... Gain unit, 1
016...Shift register, 1019...Timing generator, 1020...Switching command generator, 10
21... Counter circuit, 1022... D/A converter, 1023... Digital signal output circuit.

Claims

[Scope of utility model registration request]

Failure of two or more servo amplifiers, the output signal switching means that has the function of switching the output of each servo amplifier by a switching command from the controller, the servo motor connected to the output signal switching means, the position detector, and the servo amplifier. A servo amplifier control device comprising a controller having a switching command signal generating means for generating the switching command so that the servo amplifier on the healthy side can be shared at times.