公开(公告)号：EP0380707A4

公开(公告)日：1992-07-08

申请号：EP89909236

申请日：1989-08-11

申请人： FANUC LTD

发明人： TORII, NOBUTOSHI ,  NAITO, YASUO ROOM 7-205, FANUC MANSHONHARIMOMI ,  HAMURA, MASAYUKI ROOM 8-103, FANUC ,  OTSUKA, KAZUHISA ROOM 8-104, FANUC

IPC分类号： G05B9/02 ,  G05B19/4061 ,  G05D3/00 ,  G05D3/12 ,  G05B23/02 ,  H02P5/00

CPC分类号： G05B19/4061 ,  G05B2219/34047 ,  G05B2219/36399 ,  G05B2219/37624 ,  G05B2219/49162 ,  G05B2219/50179

摘要： This invention relates to an impingement detection/driving stop method which can quickly detect the impingement of a machine operation portion driven by a servo motor against foreign matters, can quickly stop driving of the machine operation portion when the impingement is detected and can prevent or reduce damage to the machine due to the impingement. A digital signal processor of a shaft controller constituting a software servo calculates (S2) periodically a speed difference (εv) on the basis of a command speed (Vc) calculated on the basis of the instruction from a main computer and an actual motor speed (V) from a pulse coder of a servo motor, judges (S3) whether or not the absolute value (|εv - εV'|) of the difference between the speed difference in the current servo control period and the speed difference in the preceding period is smaller than the impingement judgement reference value (ERR), displays an alarm, delivers a torque command of a value of 0 and stops the rotation of the servo motor when the absolute value is greater than the judgement reference value (S8, S9).