Fanuc Corporation

Nobuo Chino

Yoshiki Hashimoto

Yoshikiyo Tanabe

Yoshiyuki Kubo

Shuntaro Toda

Makine Yuyama

Shuntaro Room 10-207 Fanuc Manshonharimomi Toda

A robot control system including a servo amplifier supplying power to a robot, a processor controlling the operation of the robot, and a servo power connection/cutoff circuit connected to the same, issuing excitation/nonexcitation commands to a charging relay and a main circuit connection electromagnetic contactor provided in the circuit from the processor, monitoring the opened/closed states of the contacts of the charging relay and main circuit connection electromagnetic contactor by the processor, and detecting if their contacts open and close as instructed by the processor to thereby check if the power connection/cutoff circuit has a fault. Due to this, it is possible to provide a robot control system which detects faults of the power connection/cutoff circuit and which is inexpensive and high in safety.

Robot control system

In a case in which an operation is alternately carried out by apparatus-and the apparatus-in cooperation with a robot, an operator carries out operation within an operation range of each of the apparatuses during the interruption of power supply to the apparatus-and the apparatus-. Even if the operator approaches or enters the apparatus-or the apparatus-, an emergency stop unit is not informed of a notice of such approach or entry as far as the interruption of power to the apparatus is confirmed. In a state in which the interruption of power is not confirmed, on the other hand, the emergency stop unit is informed of the notice of operator's approach or entry, and the robot system is emergency stopped.

Robot system

An emergency-stop device provided in a robot system, a machine tool or the like, arranged to promptly detect failure of a circuit through which an emergency stop signal is supplied to an CPU, without stopping the robot system, the machine tool or the like, to improve reliability. When at least one of emergency stop switches is opened, a CPU #or #issues an emergency stop command through one of input circuits, so that a switch SWor SWis opened by an output circuit #or #to emergency-stop the system. Switching means #are opened separately, at appropriate intervals, and change of output of each photo coupler is recognized. In this manner, it is checked that open/closed-state outputs related to contacts Cand CCand Ceach connected to one of the input circuits, indicate an open state. If regarding any of the contacts, change of output of the corresponding photo coupler is not recognized, the system is stopped and an action such as causing a buzzer and displaying of an alarm is taken.

Emergency-stop device

Two emergency stop lines are provided. Due to contacts being opened by commands from emergency stop factors and from first and second CPUs, conducting to first and second contactors are stopped. Contacts of the contactors are opened, and power supply to the motor is interrupted, whereby an emergency stop is performed. Further, the first CPU on the first line transmits an abnormality signal to the second CPU when the states of the contacts on the self emergency stop line, detected by digital inputs, are abnormal, and the second CPU opens a contact on the self emergency stop line so as to cause the contactor to be non-excited to thereby stop power supply to the motor.

Emergency stop circuit

A portable operation section of a controller has an impact sensor. When the controller receives an impact due to the drop or the like of the portable operation section, the impact sensor outputs an impact detection signal to the control section. Upon receiving this impact detection signal, the control section ignores any signal from the portable operation section and thus does not use this signal for the control of the drive of the mechanism section of a machine tool or a robot.

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Yamanashi, Japan

Nobuo Chino