JPS6434191U - - Google Patents
Info
- Publication number
- JPS6434191U JPS6434191U JP12992987U JP12992987U JPS6434191U JP S6434191 U JPS6434191 U JP S6434191U JP 12992987 U JP12992987 U JP 12992987U JP 12992987 U JP12992987 U JP 12992987U JP S6434191 U JPS6434191 U JP S6434191U
- Authority
- JP
- Japan
- Prior art keywords
- signal
- servo motor
- outputs
- command data
- input
- 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.)
- Pending
Links
- 230000002159 abnormal effect Effects 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 3
Landscapes
- Numerical Control (AREA)
- Safety Devices In Control Systems (AREA)
Description
第１図は本考案の一実施例の構成図、第２図及
び第３図は第１図における要部の異なる動作説明
図、第４図は従来のロボツト制御装置の構成図で
ある。
１……制御部、１ａ……位置決めデータ信号、
２……ロボツトアーム、３……サーボモータ、４
……パルス発生部、４ａ……二値信号、４ｂ……
パルス列信号、１４……ロボツト制御装置、１５
，２０……サーボモータ駆動部、１６……第１信
号変換部、１６ａ……第１変換信号、１７……第
２信号変換部、１７ａ……第２変換信号、１８…
…コンパレータ。
FIG. 1 is a block diagram of an embodiment of the present invention, FIGS. 2 and 3 are diagrams explaining operations of main parts different from those in FIG. 1, and FIG. 4 is a block diagram of a conventional robot control device. 1...Control unit, 1a...Positioning data signal,
2... Robot arm, 3... Servo motor, 4
...Pulse generator, 4a... Binary signal, 4b...
Pulse train signal, 14... Robot control device, 15
, 20... Servo motor drive unit, 16... First signal converter, 16a... First converted signal, 17... Second signal converter, 17a... Second converted signal, 18...
…comparator.
Claims (1)
サーボモータの位置決めを指令するために該サー
ボモータの回転方向、回転速度及び回転角度を各
指令データを含む位置決めデータ信号を出力する
制御部と、前記位置決めデータ信号が入力される
と前記回転方向指令データに応じた二値信号を出
力すると共に、パルス周波数が前記回転速度指令
データを表しかつパルスの個数が前記回転角度指
令データを表すパルス列信号を出力するパルス発
生部と、前記パルス列信号と前記二値信号とが入
力されると前記両入力信号が表す指令回転態様で
前記サーボモータが回転するように該サーボモー
タを駆動すると共に、警報信号が入力されると前
記サーボモータを停止させるサーボモータ駆動部
と、前記位置決めデータ信号が入力されると該位
置決めデータ信号における前記回転速度指令デー
タのうちの最高回転速度指令データに応じた第１
変換信号を出力する第１信号変換部と、前記パル
ス列信号が入力されると該パルス列信号のパルス
周波数に応じた第２変換信号を出力する第２信号
変換部と、前記第１変換信号にもとづいて前記第
２変換信号の正常または異常を判定し前記第２変
換信号が異常であると判定すると前記警報信号を
出力する信号判定部とを備えたことを特徴とする
ロボツト制御装置。 a servo motor that drives a robot arm; a control unit that outputs a positioning data signal that includes command data for the rotation direction, rotation speed, and rotation angle of the servo motor in order to command positioning of the servo motor; A pulse that outputs a binary signal according to the rotation direction command data when a signal is input, and also outputs a pulse train signal whose pulse frequency represents the rotation speed command data and whose number of pulses represents the rotation angle command data. a generator, when the pulse train signal and the binary signal are input, drives the servo motor so that the servo motor rotates in a command rotation mode represented by both input signals, and an alarm signal is input. and a servo motor drive unit that stops the servo motor, and when the positioning data signal is input, a first rotation speed command data corresponding to the highest rotation speed command data of the rotation speed command data in the positioning data signal.
a first signal converter that outputs a converted signal; a second signal converter that outputs a second converted signal according to the pulse frequency of the pulse train signal when the pulse train signal is input; a signal determining section that determines whether the second converted signal is normal or abnormal, and outputs the alarm signal when the second converted signal is determined to be abnormal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12992987U JPS6434191U (en) | 1987-08-26 | 1987-08-26 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12992987U JPS6434191U (en) | 1987-08-26 | 1987-08-26 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6434191U true JPS6434191U (en) | 1989-03-02 |
Family
ID=31384649
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP12992987U Pending JPS6434191U (en) | 1987-08-26 | 1987-08-26 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6434191U (en) |
-
1987
- 1987-08-26 JP JP12992987U patent/JPS6434191U/ja active Pending
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