Abstract: A robot controller which simultaneously controls N (N?2) number of robots (R1 to Rn), provided with a main control unit (MCU), the main control unit including a main processor (MP) which prepares operational commands each of the N number of robots and a servo processor (SP) which uses the operational commands prepared by the main processor as the basis to calculate amounts of operation of servo motors which drive each of the robots, and furthermore provided with N number of amplifier units (AU1 to AUn) connected to the main control unit, each including a servo amplifier (SA1 to SAn) which uses amounts of operations of servo motors calculated by the servo processor to drive servo motors of one robot among the N number of robots. Due to this, it is easy to add and remove robots and the cost can be lowered and the size reduced.

Abstract: A robot control system including a servo amplifier supplying power to a robot, a processor controlling the operation of the robot, and a servo power connection/cutoff circuit connected to the same, issuing excitation/nonexcitation commands to a charging relay and a main circuit connection electromagnetic contactor provided in the circuit from the processor, monitoring the opened/closed states of the contacts of the charging relay and main circuit connection electromagnetic contactor by the processor, and detecting if their contacts open and close as instructed by the processor to thereby check if the power connection/cutoff circuit has a fault. Due to this, it is possible to provide a robot control system which detects faults of the power connection/cutoff circuit and which is inexpensive and high in safety.

Abstract: A robot control system including a servo amplifier supplying power to a robot, a processor controlling the operation of the robot, and a servo power connection/cutoff circuit connected to the same, issuing excitation/nonexcitation commands to a charging relay and a main circuit connection electromagnetic contactor provided in the circuit from the processor, monitoring the opened/closed states of the contacts of the charging relay and main circuit connection electromagnetic contactor by the processor, and detecting if their contacts open and close as instructed by the processor to thereby check if the power connection/cutoff circuit has a fault. Due to this, it is possible to provide a robot control system which detects faults of the power connection/cutoff circuit and which is inexpensive and high in safety.

Abstract: In a case in which an operation is alternately carried out by apparatus-1 and the apparatus-2 in cooperation with a robot, an operator carries out operation within an operation range of each of the apparatuses during the interruption of power supply to the apparatus-1 and the apparatus-2. Even if the operator approaches or enters the apparatus-1 or the apparatus-2, an emergency stop unit is not informed of a notice of such approach or entry as far as the interruption of power to the apparatus is confirmed. In a state in which the interruption of power is not confirmed, on the other hand, the emergency stop unit is informed of the notice of operator's approach or entry, and the robot system is emergency stopped.

Abstract: An emergency-stop device provided in a robot system, a machine tool or the like, arranged to promptly detect failure of a circuit through which an emergency stop signal is supplied to an CPU, without stopping the robot system, the machine tool or the like, to improve reliability. When at least one of emergency stop switches is opened, a CPU #1 or #2 issues an emergency stop command through one of input circuits, so that a switch SW10 or SW20 is opened by an output circuit #1 or #2 to emergency-stop the system. Switching means #1, #2 are opened separately, at appropriate intervals, and change of output of each photo coupler is recognized. In this manner, it is checked that open/closed-state outputs related to contacts C11 and C21/C12 and C22, each connected to one of the input circuits, indicate an open state. If regarding any of the contacts, change of output of the corresponding photo coupler is not recognized, the system is stopped and an action such as causing a buzzer and displaying of an alarm is taken.

Abstract: An emergency-stop device provided in a robot system, a machine tool or the like, arranged to promptly detect failure of a circuit through which an emergency stop signal is supplied to an CPU, without stopping the robot system, the machine tool or the like, to improve reliability. When at least one of emergency stop switches is opened, a CPU #1 or #2 issues an emergency stop command through one of input circuits, so that a switch SW10 or SW20 is opened by an output circuit #1 or #2 to emergency-stop the system. Switching means #1, #2 are opened separately, at appropriate intervals, and change of output of each photo coupler is recognized. In this manner, it is checked that open/closed-state outputs related to contacts C11 and C21/C12 and C22, each connected to one of the input circuits, indicate an open state. If regarding any of the contacts, change of output of the corresponding photo coupler is not recognized, the system is stopped and an action such as causing a buzzer and displaying of an alarm is taken.

Abstract: Two emergency stop lines are provided. Due to contacts being opened by commands from emergency stop factors and from first and second CPUs, conducting to first and second contactors are stopped. Contacts of the contactors are opened, and power supply to the motor is interrupted, whereby an emergency stop is performed. Further, the first CPU on the first line transmits an abnormality signal to the second CPU when the states of the contacts on the self emergency stop line, detected by digital inputs, are abnormal, and the second CPU opens a contact on the self emergency stop line so as to cause the contactor to be non-excited to thereby stop power supply to the motor.

Abstract: A robot allowing an operator to refer to information required for inspections or the like without having to use a printed manual or a display screen of a teaching pendant. A display device has a flexible display screen that uses organic light-emitting diodes, a control unit, and a plug. The display device plug is inserted in a connector provided at a suitable location the robot arm, the display unit is lightly pressed onto the surface of the robot arm (the surface may be curved or flat) and a sticking part (an adhesive layer or magnetic layer) stuck onto and fixed to the surface. Instructions are transmitted from the teaching pendant to a robot controller. Electric power and signals are transmitted to the control unit through wiring and an image is displayed on the display unit. The technician carries on with the work of inspection while referring to the display screen. Alternatively, power may be supplied by battery and data exchanged by wireless communications.

Abstract: A portable operation section of a controller has an impact sensor. When the controller receives an impact due to the drop or the like of the portable operation section, the impact sensor outputs an impact detection signal to the control section. Upon receiving this impact detection signal, the control section ignores any signal from the portable operation section and thus does not use this signal for the control of the drive of the mechanism section of a machine tool or a robot.

Abstract: Two emergency stop lines are provided. Due to contacts being opened by commands from emergency stop factors and from first and second CPUs, conducting to first and second contactors are stopped. Contacts of the contactors are opened, and power supply to the motor is interrupted, whereby an emergency stop is performed. Further, the first CPU on the first line transmits an abnormality signal to the second CPU when the states of the contacts on the self emergency stop line, detected by digital inputs, are abnormal, and the second CPU opens a contact on the self emergency stop line so as to cause the contactor to be non-excited to thereby stop power supply to the motor.

Abstract: In a case in which an operation is alternately carried out by apparatus-1 and the apparatus-2 in cooperation with a robot, an operator carries out operation within an operation range of each of the apparatuses during the interruption of power supply to the apparatus-1 and the apparatus-2. Even if the operator approaches or enters the apparatus-1 or the apparatus-2, an emergency stop unit is not informed of a notice of such approach or entry as far as the interruption of power to the apparatus is confirmed. In a state in which the interruption of power is not confirmed, on the other hand, the emergency stop unit is informed of the notice of operator's approach or entry, and the robot system is emergency stopped.

Abstract: A portable operation section of a controller has an impact sensor. When the controller receives an impact due to the drop or the like of the portable operation section, the impact sensor outputs an impact detection signal to the control section. Upon receiving this impact detection signal, the control section ignores any signal from the portable operation section and thus does not use this signal for the control of the drive of the mechanism section of a machine tool or a robot.

Abstract: A pneumatic apparatus used for reading punch cards containing processing condition data for articles being processed in an automatic system. The apparatus has a pneumatic reading head for reading the punch cards, and the head has a plurality of air conduits therein. Each conduit has an inlet and an outlet. An air supply is connected to the air conduits for supplying air thereto, and a back pressure detector is provided in each conduit for detecting back pressure therein. The apparatus also includes a movable carrier jig for holding and carrying the article being processed in said system and the jig has a card fitting portion thereon for holding the punch card. The carrier jig is movable toward and away from the conduits so that the card on the card fitting portion can be positioned adjacent the outlets of the conduits.

Abstract: When plating an outer surface of a cylindrical article or an inner surface of a tubular article, in order to automatically achieve centering between the article to be plated and the opposed tubular or cylindrical electrode, there is provided a novel jig for supporting the cylindrical body, either the article to be plated or the opposed electrode, at the center of the tubular body, either the opposed electrode or the article to be plated, and a method for automatically centering the cylindrical body and the tubular body by means of said jig. The jig consists of a jig receiving member having a jig supporting surface in the form of an inclined surface or a spherical surface having a center axis, and a jig member having a surface by which the jig member is to be supported which is mated with the jig supporting surface and which is coaxial with the center axis of the jig supporting member, and the pair of mating surfaces serve as electric conduction means between the cylindrical body and an external circuit.

Abstract: An improved article conveying apparatus suitable for conveying an article to be processed from an article receiving station to a processing station and for conveying a processed article from the processing station to a product delivery station in a highly efficient manner. This article conveying apparatus has an apparatus main body supported on a track and capable of travelling along said track, an arm supporting frame mounted on the apparatus main body so as to be rotatable about a vertical axis, at least a pair of arms mounted on the frame in a vertically movable manner, and article supporting devices mounted on the respective arms at an equal distance from the vertical axis.