Abstract: A mobile collaborative robot includes a force sensor which is provided on a robot support on a carriage, a robot information acquisition unit which acquires robot information including posture information of the robot main body and load information of a load acting on the robot main body, a force calculation unit which calculates the external force acting on the robot support based on the robot information, and a judgment unit which judges that the mobile collaborative robot has come into contact with a human when a difference between the external force detected by the force sensor and the external force calculated by the force calculation unit is above a predetermined value ? or when a difference between the amount of change in the detected external force and the amount of change in the calculated external force is above a predetermined value ?1.

Abstract: A brake drive control circuit of a servo motor which detects malfunction of a semiconductor circuit at the brake drive control circuit, that is, a brake drive control circuit which connects two semiconductor circuits in series to a brake and uses a voltage detection circuit which detects the presence of voltage which is applied to the brake by brake signals turning the semiconductor circuits on/off so as to detect test pulses in the voltage which is applied to the brake due to test pulses which are included in the brake signals and turn the semiconductor circuits off for instants during an operation for disengaging the brake and detect malfunctions of the semiconductor circuits by the detection of the test pulses.

Abstract: The servomotor control device includes: an inverter circuit that drives a servomotor; a PWM circuit that outputs a PWM signal to the inverter circuit; a cutoff circuit that receives a safety signal and the PWM signal, outputs the PWM signal to the inverter circuit when the safely signal is turned on, and does not output the PWM signal when the safely signal is turned off; and a servomotor control circuit that outputs the safety signal to the cutoff circuit and receives a monitor signal output from the cutoff circuit, the servomotor control circuit turning off, within one cycle time of the PWM signal, the safety signal input to the cutoff circuit where the PWM signal is turned off during servomotor drive and detecting an abnormality when an off state is not detected using the monitor signal.

Abstract: A robot includes a motor that includes a brake and moves an arm on a drive axis, and a rotational position detector that detects movement of the arm. When a state occurs in which the robot is preferably emergency-stopped, a control device performs an emergency stop control in which the brake is operated and power supply to the motor is interrupted. When the movement of the arm is detected based on an output of the rotational position detector during the emergency stop control, the control device supplies power to the motor to prevent the movement of the arm.

Abstract: A wireless teaching pendant for operating a control apparatus of a robot or a machine tool by wireless communication includes a wireless communication unit for performing wireless communication with the control apparatus and a transmission interval change unit for changing a transmission interval of periodic data transmitted by the wireless communication unit to the control apparatus.

Abstract: The robot control system includes: a control device for controlling a machine; a portable wireless operation panel for performing wireless communication with the control device to control the machine; a distance measuring unit for measuring the distance between the machine and the portable wireless operation panel; and a warning generator that emits a warning to the operator or stops the machine when the distance between the machine and the portable wireless operation panel exceeds a predetermined threshold value.

Abstract: The servomotor control device includes: an inverter circuit that drives a servomotor; a PWM circuit that outputs a PWM signal to the inverter circuit; a cutoff circuit that receives a safety signal and the PWM signal, outputs the PWM signal to the inverter circuit when the safely signal is turned on, and does not output the PWM signal when the safely signal is turned off; and a servomotor control circuit that outputs the safety signal to the cutoff circuit and receives a monitor signal output from the cutoff circuit, the servomotor control circuit turning off, within one cycle time of the PWM signal, the safety signal input to the cutoff circuit where the PWM signal is turned off during servomotor drive and detecting an abnormality when an off state is not detected using the monitor signal.

Abstract: A mobile collaborative robot includes a force sensor which is provided on a robot support on a carriage, a robot information acquisition unit which acquires robot information including posture information of the robot main body and load information of a load acting on the robot main body, a force calculation unit which calculates the external force acting on the robot support based on the robot information, and a judgment unit which judges that the mobile collaborative robot has come into contact with a human when a difference between the external force detected by the force sensor and the external force calculated by the force calculation unit is above a predetermined value ? or when a difference between the amount of change in the detected external force and the amount of change in the calculated external force is above a predetermined value ?1.

Abstract: A robot controller comprises a control unit which outputs a driving command of a servo motor for robot driving, and an amplifier unit which outputs a driving signal to the servo motor in response to the driving command from the control unit. The control unit and the amplifier unit are mounted in integrally formed printed boards and are connected so as to be able to communicate with each other via the printed boards.

Abstract: A brake drive control circuit of a servo motor which detects malfunction of a semiconductor circuit at the brake drive control circuit, that is, a brake drive control circuit which connects two semiconductor circuits in series to a brake and uses a voltage detection circuit which detects the presence of voltage which is applied to the brake by brake signals turning the semiconductor circuits on/off so as to detect test pulses in the voltage which is applied to the brake due to test pulses which are included in the brake signals and turn the semiconductor circuits off for instants during an operation for disengaging the brake and detect malfunctions of the semiconductor circuits by the detection of the test pulses.

Abstract: In a conveying method of a rubber member for receiving the rubber member which is supplied from a supply device and is curved, and transferring the received rubber member to a supply receiving device in a curved state, the method includes a step of winding the rubber member from a leading end portion onto a mounting surface of a rotary table by forwardly rotating the rotary table and receiving the rubber member from the supply device in a state in which a rear end portion of the rubber member is not in contact with the mounting surface, a step of moving the rotary table from a receiving position to a transferring position, and a step of winding back the rubber member from the rear end portion so as to transfer the rubber member to the supply receiving device by reversely rotating the rotary table.

Abstract: A servomotor control device includes a servomotor control circuit for controlling an inverter such that an alternating current is supplied to a servomotor when receiving a safety signal, and for controlling the inverter such that the alternating current is not supplied to the servomotor when not receiving the safety signal, and a servomotor monitoring circuit for stopping the servomotor by stopping transmission of the safety signal to the servomotor control circuit when determining to stop the servomotor, and for stopping the servomotor by disconnecting supply of a direct current to the inverter with a power source disconnect circuit and stopping the transmission of the safety signal to the servomotor control circuit when determining that at least one of the power source disconnect circuit, the safety signal, and the servomotor control circuit is not normal.

Abstract: The air inside a housing containing heat generating parts is forced by an inside air fan to flow in a heat exchanger case through an inside air inlet, flow partially upward and partially downward in an inside air passage while being cooled by inner fins, between the inner fins, installed in the inside air passage, that form a heat exchanger heat sink, and discharge from the inside air passage through an upper, first inside air outlet and a lower, second inside air outlet. The air discharged through the two inside air outlets flows over the surfaces of the heat generating parts in the housing, taking heat from them.

Abstract: An image processor for a robot system, performing image processing for a video signal output from a camera. The camera can output a first video signal including obtained image data as well as internal vertical and horizontal synchronization signals, and output a second video signal including image data obtained based on external vertical and horizontal synchronization signals as well as the external vertical and horizontal synchronization signals.

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: An image processor for a robot system, performing image processing for a video signal output from a camera. The camera can output a first video signal including obtained image data as well as internal vertical and horizontal synchronization signals, and output a second video signal including image data obtained based on external vertical and horizontal synchronization signals as well as the external vertical and horizontal synchronization signals.

Abstract: A robot system having a vision sensor. The robot system includes a robot; a robot controlling section for controlling an operation of the robot; an imaging section provided on the robot and obtaining image data of a working environment of the robot; an image processing section for processing the image data obtained in the imaging section; a vision controlling section for controlling the imaging section and the image processing section to cause execution of obtaining the image data, transmitting the image data thus obtained, and processing the image data; and a communication network to which the robot controlling section, the image processing section and the vision controlling section are connected.

Abstract: A robot control apparatus comprises a servo amplifier having an AC/DC converter and used for driving a servo motor of a robot, and performs control so that power for driving the robot is supplied to the servo amplifier through a capacitor inrush current preventing resistor until precharging of a capacitor provided for the AC/DC converter is completed. The robot control apparatus has a first operation mode in which the power is supplied by bypassing the resistor, a second operation mode in which power is supplied through the resistor thereby controlling the servo motor in the robot to a lower driving speed than the driving speed in the first operation mode, and a selector switch SW for effecting switching from the first operation mode to the second operation mode or from the second operation mode to the first operation mode. With this configuration, a power supply circuit for supplying power to the servo amplifier for limiting the driving of the robot is reliably implemented by hardware.

Abstract: In an electric double-layer capacitor, resistance of a polarizable electrode layer is reduced and gas generation inside a case is suppressed in an attempt to improve reliability. On that account, an electric double-layer capacitor is provided, which is obtained by housing in a case, together with a driving electrolyte, a capacitor element wound with a separator interposed between electrodes being paired anode and cathode electrodes in each of which polarizable electrode layers are formed on and lead wires are fixed to both sides of a current collector made of metallic foil, such that the polarizable electrode layers are opposed to each other. Further, an electric double-layer capacitor is provided in which the lead wire is fixed to a polarizable-electrode-layer-removed section on the electrode where the polarizable electrode layer has been removed, and an area of the polarizable-electrode-layer-removed section is not smaller than 1 and not larger than 2.

Abstract: In an electric double-layer capacitor, resistance of a polarizable electrode layer is reduced and gas generation inside a case is suppressed in an attempt to improve reliability. On that account, an electric double-layer capacitor is provided, which is obtained by housing in a case, together with a driving electrolyte, a capacitor element wound with a separator interposed between electrodes being paired anode and cathode electrodes in each of which polarizable electrode layers are formed on and lead wires are fixed to both sides of a current collector made of metallic foil, such that the polarizable electrode layers are opposed to each other. Further, an electric double-layer capacitor is provided in which the lead wire is fixed to a polarizable-electrode-layer-removed section on the electrode where the polarizable electrode layer has been removed, and an area of the polarizable-electrode-layer-removed section is not smaller than 1 and not larger than 2.