Boots – shoes – and leggings
Patent
1981-12-28
1984-10-02
Smith, Jerry
Boots, shoes, and leggings
364192, 364474, 318568, G06F 1546
Patent
active
044751605
ABSTRACT:
Disclosed is a method of sensing an overload abnormality in a robot control apparatus for controlling a robot on the basis of instructive data. A motor for driving the robot has the upper and lower limits of its drive current or of its driving power set in advance. Then, when the robot is operating in the playback mode, the value of the drive current or power is monitored, and an operation is performed to check whether the value of the motor drive current or power is within the range of the set limit values, enabling an overload abnormality to be sensed. In accordance with the inventive method an instruction for checking the motor drive current or power is inserted beforehand at a proper location in the instructive data. When said instruction is read, a discrimination operation is performed to determine whether the drive current or power is within the range of the limit values.
REFERENCES:
patent: 4150326 (1979-04-01), Engelberger et al.
patent: 4258425 (1981-03-01), Ramsey et al.
patent: 4356554 (1982-10-01), Susnjaia et al.
patent: 4370721 (1983-01-01), Berenberg et al.
patent: 4386305 (1983-05-01), Kohzai et al.
patent: 4386408 (1983-05-01), Imazeki et al.
Fanuc Ltd.
Lastova John R.
Smith Jerry
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