METHOD FOR FORESEEING WORKING LIMIT OF TEACHING PLAYBACK TYPE ROBOT

摘要

PURPOSE:To use a robot in a proper load state by finding up a temperature upper limit from a load condition of a robot driving electric motor and foreseeing a working limit. CONSTITUTION:At the time of teaching a robot, the setting conditions of initial moment or the like of respective axes of the robot, the temperature rising patterns of respective electric motors expressed by a linear curve having a fixed heat discharging factor proportional to the square of a load current value, and environmental conditions such as the peripheral temperature of the motor are set up. Then, the load state (load condition) of the motor is calculated from the locus of the robot and a speed pattern. Then, an evaluated average current is found out from the load condition, a design condition and the environmental conditions to calculate the upper limit of the temperature. While observing the temperature upper limit displayed on a display part, a teacher decides whether the temperature exceeds a prescribed limit value or not, and when the temperature exceeds the limit value, corrects a teaching program and decides agains whether the temperature exceeds the prescribed limit value or not.