| US 7,525,273 B2 | ||
| Robot control system | ||
| Yoshiki Hashimoto, Kanagawa (Japan); Yoshiyuki Kubo, Yamanashi (Japan); Nobuo Chino, Yamanashi (Japan); and Yoshikiyo Tanabe, Yamanashi (Japan) | ||
| Assigned to Fanuc Ltd, Yamanashi (Japan) | ||
| Filed on Jan. 03, 2007, as Appl. No. 11/619,514. | ||
| Claims priority of application No. 2006-000129 (JP), filed on Jan. 04, 2006. | ||
| Prior Publication US 2007/0152617 A1, Jul. 05, 2007 | ||
| Int. Cl. B25J 19/06 (2006.01) | ||
| U.S. Cl. 318—519 [318/563; 361/31] | 5 Claims |
| 1. A robot control system provided with
a processor,
a servo amplifier having an AC/DC converter,
a resistance for preventing a rush current at the time of charging a smoothing capacitor in said AC/DC converter,
a first contact connected in series to said resistance,
a first switch circuit opening/closing said first contact by a command from said processor,
a first detection circuit detecting an opened/closed state of said first contact and notifying it to said processor,
a second contact provided in parallel to said resistance and first contact,
a second switch circuit opening/closing said second contact by a command from said processor, and
a second detection circuit detecting an opened/closed state of said second contact and notifying it to said processor,
said robot control system operating so that when charging said capacitor, it closes said first contact to charge said capacitor,
then closes said second contact, wherein
said processor commands said first switch circuit and second switch circuit to open/close said first contact and second contact
and wherein
said first detection circuit and second detection circuit detect if said first contact and second contact open/close as instructed
so as to check for abnormalities of said first contact and second contact.
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