Robot control device
A robot control device includes an operation mode change-over switch for switching between a first operation mode for prohibiting an operator from approaching a predetermined area around a robot when power is supplied to a drive motor for driving the robot and a second operation mode for allowing the operator to approach the predetermined area around the robot even when power is supplied to the drive motor, and an electromagnetic contactor for switching the connection and disconnection of the power supply line to the drive motor. The robot can be stopped in case of emergency by using the electromagnetic contactor to disconnect the power supply line. The apparatus further includes an emergency stop control unit. The emergency stop control unit issues a disconnection command to the electromagnetic contactor, when the switching between the first and second operation modes is sensed, and automatically confirms whether or not the power supply line is disconnected.
1. A robot control device comprising an operation mode change-over switch for switching between a first operation mode for prohibiting an operator from approaching a predetermined area around a robot when power is supplied to a drive motor for driving said robot and a second operation mode for allowing the operator to approach the predetermined area around said robot even when power is supplied to said drive motor, and a connection/disconnection means for switching the connection and disconnection of a power supply line to said drive motor, said robot being stopped, in case of emergency, by using said connection/disconnection means to disconnect said power supply line,
wherein said robot control device further comprises an emergency stop control unit, said emergency stop control unit issuing a disconnection command to said connection/disconnection means, when the switching between the first and second operation modes by said operation mode change-over switch is sensed, and automatically confirming whether or not said power supply line is disconnected.
2. The robot control device according to claim 1 , wherein said connection/disconnection means outputs a connection/disconnection state signal indicating whether said power supply line is connected or disconnected, and said emergency stop control unit confirms whether or not said power supply line is disconnected based on the connection/disconnection state signal.
3. The robot control device according to claim 1 , wherein said emergency stop control unit issues an alarm when said emergency stop control unit fails to confirm the disconnection of said power supply tine in spite of the issuance of a disconnection command to said connection/disconnection means.
4. The robot control device according to claim 1 , wherein said emergency stop control unit prohibits the reconnection of said power supply line by said connection/disconnection means when said emergency stop control unit fails to confirm the disconnection of said power supply line in spite of the issuance of a disconnection command to said connection/disconnection means.