Fanuc Corporation

Minoru Enomoto

Yoshiki Hashimoto

Tetsuro Matsudaira

Shuntaro Toda

A robot control device, which causes a robot mounted on a transport vehicle to be stopped on the basis of an external force applied to the robot, is equipped with a determination unit configured to determine whether or not the transport vehicle is currently traveling, and a control unit configured to cause the robot to be stopped in the case that the transport vehicle is currently traveling, and to enable the robot to be operated in the case that the transport vehicle is not currently traveling.

Robot control device, robot control method, and collaborative operation unit

A digital signal output device includes: an operation switch including contacts, a first terminal to which a first voltage is applied and a second terminal from which the first voltage is outputted when the contacts are closed; a voltage switching unit configured to select a second voltage from among a plurality of constant voltages; a voltage determination unit configured to determine on a designated cycle whether or not a voltage outputted from the voltage switching unit has changed from the second voltage; and a digital signal generation unit configured to, when the voltage determination unit determines that the voltage has not changed from the second voltage, generate on every cycle a digital signal indicating a first state when the first voltage is outputted from the second terminal and a digital signal indicating the second state when the first voltage is not outputted therefrom.

Digital signal output device that outputs a digital signal in accordance with operation switch

A robot system having a vision sensor. The robot system includes a robot; a robot controlling section for controlling an operation of the robot; an imaging section provided on the robot and obtaining image data of a working environment of the robot; an image processing section for processing the image data obtained in the imaging section; a vision controlling section for controlling the imaging section and the image processing section to cause execution of obtaining the image data, transmitting the image data thus obtained, and processing the image data; and a communication network to which the robot controlling section, the image processing section and the vision controlling section are connected.

Robot system with vision sensor

A robot control apparatus comprises a servo amplifier having an AC/DC converter and used for driving a servo motor of a robot, and performs control so that power for driving the robot is supplied to the servo amplifier through a capacitor inrush current preventing resistor until precharging of a capacitor provided for the AC/DC converter is completed. The robot control apparatus has a first operation mode in which the power is supplied by bypassing the resistor, a second operation mode in which power is supplied through the resistor thereby controlling the servo motor in the robot to a lower driving speed than the driving speed in the first operation mode, and a selector switch SW for effecting switching from the first operation mode to the second operation mode or from the second operation mode to the first operation mode. With this configuration, a power supply circuit for supplying power to the servo amplifier for limiting the driving of the robot is reliably implemented by hardware.

Robot control apparatus comprising a servo amplifier having an AC/DC converter

A DSP of a servo control circuit obtains a movement value of a servomotor for each axis for each position-speed feedback processing cycle in accordance with a move command value for each axis delivered from a main processor with every distribution cycle, and also obtains a position correction value in accordance with pressure information detected by a sensor. The DSP of the servo control circuit carries out position-speed feedback processing with the use of a move command value which is obtained by correcting the movement value with the obtained position correction value, and drives the servomotor.

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Yamanashi, Japan

Minoru Enomoto