JPS6433605A - Detecting device for abnormality of industrial robot - Google Patents
Detecting device for abnormality of industrial robotInfo
- 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
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.
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)
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)
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 |
-
1987
- 1987-07-29 JP JP62191103A patent/JP2580190B2/en not_active Expired - Lifetime
Patent Citations (1)
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)
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 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US4710119A (en) | Injection molding machine using servo motor and having mold protecting function | |
ATE6958T1 (en) | ANTI-KICKBACK CONTROL FOR A MOTOR TOOL. | |
KR0144650B1 (en) | Method of detecting and regulating load on servomotor | |
KR19980064453A (en) | Load short circuit detection method and apparatus | |
EP0464211B1 (en) | Method of detecting collision using observer | |
EP0414643A3 (en) | Method and apparatus for monitoring and controlling linear motor robot apparatus and the like | |
EP0938118A4 (en) | Controller for relay | |
KR890701290A (en) | Motor driving method in industrial robot | |
JPS5743596A (en) | Drive control device for pulse motor | |
EP0216940A4 (en) | Device for controlling injection pressure of injection molding machine. | |
JPS6433605A (en) | Detecting device for abnormality of industrial robot | |
EP0401378A4 (en) | Brake control system for gravity shafts | |
EP0347472A4 (en) | Spindle orientation controller | |
EP0285664A4 (en) | Apparatus for detecting metal mold touch position in an electrically powered straight-acting mold-clamping mechanism. | |
JPS5716237A (en) | Safety device for engine controller | |
EP0328693A4 (en) | Method of unclogging nozzle of electric injection molding machine | |
JPS6411783A (en) | Method of inspecting brake gear in industrial robot | |
JPS5751538A (en) | Car alarm device | |
JPS6456274A (en) | Control circuit for electric power steering device | |
JPS6463471A (en) | Kickback prevention device for steering gear | |
SU1045219A1 (en) | Servo electric drive | |
JPS5499911A (en) | Plant controller | |
SU942228A1 (en) | Dc electric drive | |
JPS5722397A (en) | Driving control system for pulse motor | |
JPS6475933A (en) | Method for detecting abnormality of machine |