CONTROL METHOD AND CONTROLLER FOR MULTIPLE ROBOT SYSTEM

摘要

PURPOSE: To simplify the robot disconnecting/releasing operation of the multiple robot control system and to prevent falling. ;CONSTITUTION: When disconnection buttons (SB#1/#2) of a control panel 15 are pressed, CR1#1 and CR1#2 are immediately opened. Once CR2#1 and CR2#2 are closed and brake mechanisms of RB#1 and RB#2 are made 'effective'. Then CR3#1 is opened a specific time later to disconnect the servo electric power of a corresponding robot. To make the robot return, CR1#1 and CR1#2 and CR3#1 and CR3#2 are closed by pressing buttons CB#1 and CB#2 to connect the servo power source. Then CR2#1 and CR2#2 are closed for a specific time later to reset the brake mechanism of the corresponding robot, thereby resetting the robot from the disconnection state to the connection state. The operation for disconnection and resetting is easy and servo driving power is ceased in neither switching states while the brake mechanism is ineffective, so the falling accident of a robot arm is prevented.;COPYRIGHT: (C)1994,JPO