ENCODER ABNORMALITY DETECTION METHOD

In a robot including a motor and an encoder for detecting the rotational position of the motor, the controller outputs a speed command indicating the rotational position of the motor and sends commanded-position information indicating the rotational position of the motor according to the speed comma...

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Bibliographische Detailangaben
1. Verfasser:	KINUGASA, YASUHIRO
Format:	Patent
Sprache:	eng
Schlagworte:	ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVEREDIN A SINGLE OTHER SUBCLASS CHAMBERS PROVIDED WITH MANIPULATION DEVICES CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORSOR DYNAMO-ELECTRIC CONVERTERS CONTROLLING CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS CONVERSION OR DISTRIBUTION OF ELECTRIC POWER ELECTRICITY FUNCTIONAL ELEMENTS OF SUCH SYSTEMS GENERATION HAND TOOLS MANIPULATORS MEASURING MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS PERFORMING OPERATIONS PHYSICS PORTABLE POWER-DRIVEN TOOLS REGULATING TARIFF METERING APPARATUS TESTING TRANSPORTING
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Beschreibung
Zusammenfassung:	In a robot including a motor and an encoder for detecting the rotational position of the motor, the controller outputs a speed command indicating the rotational position of the motor and sends commanded-position information indicating the rotational position of the motor according to the speed command to a safety unit for detecting a fault in the encoder. When the controller is holding modified point-of-origin information of the motor and the safety unit is holding the original point-of-origin information, the controller sends commanded-position information generated based on the original point-of-origin information to the safety unit.