Abstract: A backup power supply device configured to supply an electric power for backup to an optical encoder 11 when a main power supply 13 for driving the optical encoder 11 breaks down, the backup power supply device comprises: a battery 12 configured to storage a DC power; a capacitor 33 configured to storage a DC power, the capacitor 33 configured to supply an electric power for backup to the optical encoder 11 when the battery 12 cannot supply the electric power thereof; a discharge device 34 configured to discharge the electric power charged in the battery 12; and a periodical discharge controller 35 configured to perform control to intermittently output the electric power charged in the battery 12 to the discharge device 34 to consume the battery power.

Abstract: Under a low load condition, a produced torque is small and a synthetic current command I* with respect to an armature of a servomotor is small so that a magnitude in a negative direction of a reactive current command Id* determined by Id*=?|I*|·sin ? is small. As a result, under the low load condition, the synthetic current flowing through the armature can be small, and generation of wasteful heat can be suppressed. Further, under a high load condition, because a q-axis current Iq that produces the torque is large, voltage saturation is liable to occur. However, at the same time, the overall current command I* is large under the high load condition, and Id* is large in the negative direction. Therefore, a large reactive current Id can be flowed in the negative direction, and voltage saturation under the high load condition can be effectively prevented.

Abstract: There is provided a travel time display device for an industrial robot which can display travel time on the screen such that time taken for moving a work from any designated starting point to any other point can be seen at a glance. The travel time display device includes: a display for displaying on the screen the location of the industrial robot and an area in which the industrial robot can transport the work; a position designator for designating a travel starting point of the industrial robot at an arbitrary position on the display screen; a calculator for setting a plurality of time intervals with respect to necessary travel time from the travel starting point and calculating a travelable area, to be displayed on the display screen; and a display for depicting the travelable areas with a visual discrimination between the travelable areas.

Abstract: Under a low load condition, a produced torque is small and a synthetic current command I* with respect to an armature of a servomotor is small so that a magnitude in a negative direction of a reactive current command Id* determined by Id*=?|I*|·sin ? is small. As a result, under the low load condition, the synthetic current flowing through the armature can be small, and generation of wasteful heat can be suppressed. Further, under a high load condition, because a q-axis current Iq that produces the torque is large, voltage saturation is liable to occur. However, at the same time, the overall current command I* is large under the high load condition, and Id* is large in the negative direction. Therefore, a large reactive current Id can be flowed in the negative direction, and voltage saturation under the high load condition can be effectively prevented.

Abstract: There is provided a travel time display device for an industrial robot which can display travel time on the screen such that time taken for moving a work from any designated starting point to any other point can be seen at a glance. The travel time display device includes: a display for displaying on the screen the location of the industrial robot and an area in which the industrial robot can transport the work; a position designator for designating a travel starting point of the industrial robot at an arbitrary position on the display screen; a calculator for setting a plurality of time intervals with respect to necessary travel time from the travel starting point and calculating a travelable area, to be displayed on the display screen; and a display for depicting the travelable areas with a visual discrimination between the travelable areas.