Matsushita Electric Industrial Co., Ltd.

Hiroshi Nakajima

Shigeru Shimogama

Kazunori Matsumoto

Yoshinori Sasaki

A key input section which permits the execution of output controls is provided on a teach pendant. A control unit of a robot control system ignores all input movement requests to move the robot if a key of the key input section is depressed and if an output of the key is an output set for prohibiting the movement of the robot and is in an output state that is set.

Robot control system

A robot control apparatus has keys for input/output control and an execution key for permitting execution therefor. A key can be allocated for a reservation sequence stored beforehand. When an operation program is taught for a robot, the reservation sequence allocated to the key can be executed when the key is pressed while the execution is pressed. Then, an operation program can be programmed more correctly by controlling the robot, and time for programming a sequence program is shortened. Execution of an input/output operation due to unintentional or erroneous operation is prevented. Two input/output control sequences can be allocated to one key.

Robot controller

A control unit for an industrial robot comprising a speed command device for outputting a speed command signal for the industrial robot and a servo control device which outputs to a servo motor of each of a plurality of axes of rotation of the industrial robot, in response to the speed command signal, an electric current corresponding to the speed command signal. The servo control performs feedback control of the industrial robot, in response to a signal from an encoder of each of the axes of rotation of the industrial robot, so as to actuate the servo motor at a speed designated by the speed command signal. The speed command device includes a comparison member for comparing an actual speed of the industrial robot calculated from a pulse train of a signal returning from the encoder with the speed designated by the speed command signal. When a difference between the actual speed of the industrial robot and the speed designated by the speed command signal exceeds a predetermined permissible value, the comparison member performs an abnormality eliminating process of the industrial robot.

Industrial robot and its control unit

A robot includes a robot body to which the procedure of a task is teachable, a teaching portion, an operating portion, a control portion, and a changeover portion. The teaching portion includes a signal generating portion for generating a drive signal for driving the robot body, and a deadman switch which indicates by its opened/closed state whether the procedure of the task is being taught to the robot body or not. The operating portion generates a start signal for starting the robot body. The control portion receives the drive signal and a signal indicating the opened/closed state of the deadman from the teaching portion and the start signal from the operating portion. The changeover portion operates so that the start signal from the operating portion is prevented from being supplied to the control portion when the teaching portion is electrically connected to the control portion.

Growing community of inventors

Hyogo, Japan

Hiroshi Nakajima