JPS6433605A - Detecting device for abnormality of industrial robot - Google Patents

Detecting device for abnormality of industrial robot

Info

Publication number
JPS6433605A
JPS6433605A JP19110387A JP19110387A JPS6433605A JP S6433605 A JPS6433605 A JP S6433605A JP 19110387 A JP19110387 A JP 19110387A JP 19110387 A JP19110387 A JP 19110387A JP S6433605 A JPS6433605 A JP S6433605A
Authority
JP
Japan
Prior art keywords
servo abnormality
abnormality
time
value
servo
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP19110387A
Other languages
Japanese (ja)
Other versions
JP2580190B2 (en
Inventor
Kenji Kubo
Masahiko Watanabe
Tsutomu Omae
Hiroyuki Hanei
Yukiji Shimomura
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Ltd
Original Assignee
Hitachi Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Ltd filed Critical Hitachi Ltd
Priority to JP62191103A priority Critical patent/JP2580190B2/en
Publication of JPS6433605A publication Critical patent/JPS6433605A/en
Application granted granted Critical
Publication of JP2580190B2 publication Critical patent/JP2580190B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Landscapes

  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

PURPOSE:To detect the servo abnormality in a short time by outputting a servo abnormality signal after detecting a fact that the value corresponding to the driving torque of a movable part exceeds a reference level for a prescribed time or longer. CONSTITUTION:The value corresponding to the driving torque of a drive source (motor) 5 is calculated based on an action command and the state value of the motor 5 and outputted as the torque command value. Then the time during which said torque command value is larger than a reference level is counted. A servo abnormality deciding part 110 transmits a servo abnormality signal when said counted time exceeds. Thus it is possible to detect the servo abnormality in a short time and to avoid occurrence of the robot runaway.
JP62191103A 1987-07-29 1987-07-29 Abnormality detection device for industrial robots Expired - Lifetime JP2580190B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP62191103A JP2580190B2 (en) 1987-07-29 1987-07-29 Abnormality detection device for industrial robots

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP62191103A JP2580190B2 (en) 1987-07-29 1987-07-29 Abnormality detection device for industrial robots

Publications (2)

Publication Number Publication Date
JPS6433605A true JPS6433605A (en) 1989-02-03
JP2580190B2 JP2580190B2 (en) 1997-02-12

Family

ID=16268905

Family Applications (1)

Application Number Title Priority Date Filing Date
JP62191103A Expired - Lifetime JP2580190B2 (en) 1987-07-29 1987-07-29 Abnormality detection device for industrial robots

Country Status (1)

Country Link
JP (1) JP2580190B2 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019201569A1 (en) 2018-02-20 2019-08-22 Fanuc Corporation Servo-control means
CN113686569A (en) * 2021-08-19 2021-11-23 深圳市汇川技术股份有限公司 Transmission mechanism torque detection method, device, equipment and storage medium

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61152351A (en) * 1984-12-26 1986-07-11 Toyoda Mach Works Ltd Machine tool with function of returning to original position

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61152351A (en) * 1984-12-26 1986-07-11 Toyoda Mach Works Ltd Machine tool with function of returning to original position

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019201569A1 (en) 2018-02-20 2019-08-22 Fanuc Corporation Servo-control means
CN110174873A (en) * 2018-02-20 2019-08-27 发那科株式会社 Servocontrol device
CN110174873B (en) * 2018-02-20 2021-03-30 发那科株式会社 Servo control device
US10996654B2 (en) 2018-02-20 2021-05-04 Fanuc Corporation Servo controller
CN113686569A (en) * 2021-08-19 2021-11-23 深圳市汇川技术股份有限公司 Transmission mechanism torque detection method, device, equipment and storage medium

Also Published As

Publication number Publication date
JP2580190B2 (en) 1997-02-12

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