公开(公告)号：EP1806761A1

公开(公告)日：2007-07-11

申请号：EP06027015.4

申请日：2006-12-28

申请人： FANUC LTD

发明人： Hashimoto, Yoshiki ,  Kubo, Yoshiyuki Room 11-602 ,  Chino, Nobuo Room11-602 ,  Tanabe, Yoshikiyo

IPC分类号： H01H47/00

CPC分类号： H01H47/002 ,  H01H2231/04

摘要： A robot control system including a servo amplifier (52,92) supplying power to a robot, a processor (51,91,91A) controlling the operation of the robot, and a servo power connection/cutoff circuit connected to the same, the processor issuing excitation/nonexcitation commands to a charging relay (KA1) and a main circuit connection electromagnetic contactor (KM1) provided in the circuit, monitoring the opened/closed states of the contacts of the charging relay (KA1) and main circuit connection electromagnetic contactor (KM1), 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.

摘要翻译： 一种机器人控制系统，包括向机器人供电的伺服放大器（52,92），控制机器人的操作的处理器（51,91,91A）以及与其连接的伺服电源连接/切断电路，处理器 向设置在该电路中的充电继电器（KA1）和主电路连接电磁接触器（KM1）发出激励/非激励命令，监视充电继电器（KA1）和主电路连接电磁接触器（KA1）的触点的打开/ KM1），并根据处理器的指示检测它们的触点是否打开和闭合，从而检查电源连接/切断电路是否有故障。 由此，可以提供检测电源连接/切断电路的故障并且廉价且安全性高的机器人控制系统。