Robot control device and robot control system

Abstract

The robot control device (10) includes an electric motor drive unit (13) that drives an electric motor (4) of the robot, a control unit (17) that controls the robot by controlling the electric motor drive unit, an electric motor power supply circuit (12) that generates power to drive the electric motor from the power of an external power supply (2) and supplies power to the electric motor drive unit, a control unit power supply circuit (16) that generates power used to drive the control unit from the power of an external power supply and supplies power to the control unit, and a power cut-off unit (11) that cuts off the power supply to the electric motor power supply circuit according to user operation. The electric motor power supply circuit is connected to the external power supply via the power cut-off unit, and the control unit power supply circuit is connected to the external power supply without going through the power cut-off unit. When the power cut-off unit cuts off the power supply, the power supply to the control unit is maintained while the power supply to the electric motor power supply circuit is cut off. When the power cut-off unit releases the power supply cut-off and restarts the robot, the control unit controls the electric motor drive unit without restarting.

Description

Technical Field

[0001] The present disclosure relates to a robot control device and a robot control system.

Background Art

[0002] In robots used in factories and the like, the power supply to the robot control device may be lost due to power interruption caused by a failure or power interruption for maintenance. Since the robot cannot be operated from the state where the power supply is lost until restart, productivity decreases. For this reason, it is required to restart the robot in a short time from the start of power supply.

[0003] The robot control device described in Patent Document 1 divides a series of operations of the robot body into a plurality of operation sections in advance, and when the main power supply fails, the auxiliary power supply continues the operation of the operation section at the time of power failure. When the power failure of the main power supply is restored, this robot control device quickly resumes the operation by restarting the operation of the robot body from the next operation section of the operation section continued by the auxiliary power supply.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the technology described in Patent Document 1, when maintenance is performed on the robot, the power supply to the robot control device is cut off to prevent the robot from operating even if the robot control device operates unexpectedly during maintenance. Therefore, when restarting the robot, it is necessary to restart the robot control device. For this reason, the technology described in Patent Document 1 has the problem that it is not possible to shorten the time from when maintenance is completed on the robot until the robot is restarted.

[0006] This disclosure is made in view of the above, and aims to provide a robot control device that can shorten the time from the completion of maintenance on the robot to the restart of the robot. [Means for solving the problem]

[0007] To solve the aforementioned problems and achieve the objectives, the robot control device of this disclosure comprises an electric motor drive unit that drives an electric motor of the robot, and a control unit that controls the robot by controlling the electric motor drive unit. Furthermore, the robot control device of this disclosure comprises an electric motor power supply circuit that generates power to drive the electric motor from an external power supply and supplies power to the electric motor drive unit, a control unit power supply circuit that generates power used to drive the control unit from an external power supply and supplies power to the control unit, and a power supply cutoff unit that cuts off the power supply to the electric motor power supply circuit according to user operation. Furthermore, the robot control device of this disclosure includes a power supply determination unit that determines whether or not power is being supplied to the motor power supply circuit, and an external signal detection unit that detects an external signal input in accordance with user operation. The motor power supply circuit is connected to an external power supply via a power cut-off unit, while the control unit power supply circuit is connected to an external power supply without going through the power cut-off unit. When the power cut-off unit cuts off the power supply, the power supply to the control unit is maintained while the power supply to the motor power supply circuit is cut off. The control unit, when the power supply determination unit determines that the power supply to the motor power circuit has been cut off, determines that the power supply to the motor power circuit was cut off normally by the power cut-off unit if the power supply cut-off occurred after the detection of an external signal, and does not control the motor drive unit while the power supply is cut off. When the power cut-off unit releases the power supply interruption and restarts the robot is again The motor drive unit is controlled without starting up. [Effects of the Invention]

[0008] The robot control device described herein has the effect of reducing the time it takes to restart the robot after maintenance is completed. [Brief explanation of the drawing]

[0009] [Figure 1] This figure shows an example configuration of a robot control system having a robot control device according to an embodiment. [Figure 2] This figure shows an example of the configuration of a robot control device according to the embodiment. [Figure 3] A diagram illustrating the fixing device and locking mechanism arranged in the robot control device according to the embodiment. [Figure 4] A diagram illustrating the cover and locking mechanism arranged in the robot control device according to the embodiment. [Figure 5] A diagram illustrating the state in which the power cut-off unit of the robot control device according to the embodiment has cut off the power. [Figure 6] A flowchart illustrating the processing procedure performed by the robot control device when the robot control device according to the embodiment transitions from a normal operating state to a main circuit power cut-off state. [Figure 7] A flowchart illustrating the processing procedure performed by the robot control device when the robot control device according to the embodiment transitions from a main circuit power off state to a normal operation state. [Figure 8] A diagram illustrating the state of the robot control device according to the embodiment. [Figure 9] A diagram illustrating the driveability status of an electric motor controlled by a robot control device according to an embodiment. [Figure 10] This figure illustrates an example of the configuration of a robot control device when a first example of a detachable power cut-off unit is attached to the robot control device according to the embodiment. [Figure 11] This figure illustrates an example of the configuration of a robot control device when a first example of a detachable conductive part is attached to the robot control device according to the embodiment. [Figure 12]A diagram for explaining a configuration example of a robot control device when a second example of a power cut-off unit detachable from the robot control device according to the embodiment is attached [Figure 13] A diagram for explaining a configuration example of a robot control device when a second example of a conductive unit detachable from the robot control device according to the embodiment is attached [Figure 14] A diagram showing a configuration example of a processing circuit when the processing circuit included in the control unit of the robot control device according to the embodiment is realized by a processor and a memory [Figure 15] A diagram showing a configuration example of a processing circuit when the processing circuit included in the control unit of the robot control device according to the embodiment is configured by dedicated hardware

Embodiment for Carrying Out the Invention

[0010] Hereinafter, a robot control device and a robot control system according to an embodiment of the present disclosure will be described in detail based on the drawings.

[0011] Embodiment FIG. 1 is a diagram showing a configuration example of a robot control system having a robot control device according to the embodiment. The robot control system 1 includes a robot control device 10, a signal input unit 20, and a robot arm 70. The robot control system 1 is a system that controls the robot arm 70 by the robot control device 10. The robot control device 10 is connected to an external power supply 2, a signal input unit 20, and the robot arm 70.

[0012] When maintenance or the like is performed on the robot arm 70, the robot control system 1 maintains the supply of power (main power) from the external power supply 2 to the robot control device 10 while cutting off the power supply to the electric motor (electric motor 4 described later) driven by the robot control device 10. Thereby, the robot control system 1 enables maintenance or the like on the robot arm 70 while preventing the electric motor 4 from operating while maintaining the operation of the robot control device 10.

[0013] In the embodiment, a case where the robot control device 10 controls a robot arm 70 which is an example of a robot will be described. However, the robot control device 10 may control a robot other than the robot arm 70. For example, the robot control device 10 may control a vertical articulated robot such as the robot arm 70, or may control a robot other than the robot arm 70 such as an orthogonal robot, a parallel link robot, or a horizontal articulated robot.

[0014] The external power supply 2 is a power supply source for supplying power to the robot control device 10. The robot control device 10 controls the robot arm 70 using the power supplied from the external power supply 2. The signal input unit 20 transmits an external signal to the robot control device 10 and inputs an external signal to the robot control device 10 when maintenance or the like is performed on the robot arm 70. The signal input unit 20 inputs an external signal to the robot control device 10 according to an operation by the user of the robot arm 70 or the like.

[0015] After a user operation for transmitting an external signal is performed, the signal input unit 20 continues to transmit the external signal to the robot control device 10. When a user operation for stopping the transmission of the external signal is performed, the signal input unit 20 stops the transmission of the external signal to the robot control device 10.

[0016] As a method for switching between the transmission and the stop of the external signal from the signal input unit 20 to the robot control device 10, there are a method of switching by operating a switch, a method of changing the output from a device that outputs a signal by operating a button or the like, etc., but it is not limited thereto. A motor 4 is incorporated in the robot arm 70, and the posture of the robot arm 70 changes when the robot control device 10 drives the motor 4.

[0017] FIG. 2 is a diagram showing a configuration example of the robot control device according to the embodiment. The robot control device 10 is connected to an external power supply 2, a motor 4 and a position detector 5 arranged on the robot arm 70, an external device 6, and a signal input unit 20.

[0018] The position detector 5 is attached to the electric motor 4 and detects the rotational position of the rotor in the electric motor 4. The position detector 5 transmits position information indicating the rotational position of the rotor to the robot control device 10. The electric motor 4 and the position detector 5 are integrated into a housing and located within the robot arm 70.

[0019] The robot control device 10 includes a power cut-off unit 11, a motor power supply circuit 12, a motor drive unit 13, a power supply determination unit 14, a cut-off function determination unit 15, a control unit power supply circuit 16, a control unit 17, an external signal detection unit 18, and a signal output unit 19. The motor power supply circuit 12 is configured to include, for example, a converter, and the motor drive unit 13 is configured to include, for example, an inverter.

[0020] The external power supply 2 is connected to the power cut-off unit 11 and the control unit power supply circuit 16 via connection point 81. The power cut-off unit 11 is connected to the cut-off function determination unit 15 via connection point 82. The power cut-off unit 11 is also connected to the motor power supply circuit 12 and the power supply determination unit 14 via connection points 82 and 83.

[0021] Connection point 81 is located on the upstream side (external power supply 2 side) of the power cut-off unit 11, and connection points 82 and 83 are located on the downstream side (motor 4 side) of the power cut-off unit 11. Connection points 81 to 83 may be located inside or outside the power cut-off unit 11.

[0022] The control unit 17 is connected to the motor drive unit 13, power supply determination unit 14, cutoff function determination unit 15, control unit power supply circuit 16, external signal detection unit 18, signal output unit 19, and position detector 5. The motor drive unit 13 is connected to the motor power supply circuit 12 and the motor 4. The signal output unit 19 is connected to an external device 6, and the external signal detection unit 18 is connected to the signal input unit 20.

[0023] The power cut-off unit 11 switches between supplying and cutting off power from the external power source 2 to the motor power circuit 12. The power cut-off unit 11 switches between supplying and cutting off power according to user operation or other instructions.

[0024] The control unit power supply circuit 16 generates power used to drive the control unit 17 from the power from the external power supply 2 and supplies it to the control unit 17. The external signal detection unit 18 detects the external signal transmitted from the signal input unit 20. When the external signal detection unit 18 detects an external signal, it notifies the control unit 17 of information indicating that an external signal has been detected (hereinafter sometimes referred to as signal detection information).

[0025] The signal output unit 19 outputs a signal indicating an abnormality to an external device 6 when the control unit 17 detects an abnormality. An example of an external device 6 is a display device. The abnormality information output by the signal output unit 19 is displayed on the display device or the like. This allows the user to recognize the detection status of abnormalities by the robot control device 10. In other words, the user of the robot arm 70 can know the abnormal state recognized by the control unit 17 from the information output from the signal output unit 19. Note that the robot control device 10 does not necessarily have to be equipped with a signal output unit 19.

[0026] When the power cut-off unit 11 is opened according to user operation or other reasons, it cuts off the supply of power from the external power source 2 to the motor power supply circuit 12, and when it is closed according to user operation or other reasons, it supplies power from the external power source 2 to the motor power supply circuit 12 via connection points 82 and 83.

[0027] In the robot control device 10, since the connection point 81 is located upstream of the power cut-off unit 11, even if the power cut-off unit 11 cuts off the power supply from the external power source 2 to the motor power supply circuit 12, power from the external power source 2 continues to be supplied to the control unit power supply circuit 16 via the connection point 81.

[0028] When the power cut-off unit 11 is closed, the motor power supply circuit 12 is supplied with power from the external power supply 2. When the power cut-off unit 11 is open, the motor power supply circuit 12 is not supplied with power from the external power supply 2. The motor power supply circuit 12 generates power to drive the motor 4 from the power from the external power supply 2 and supplies it to the motor drive unit 13. The power supplied from the motor power supply circuit 12 to the motor drive unit 13 is the first power, and the power supplied from the control unit power supply circuit 16 to the control unit 17 is the second power.

[0029] The motor drive unit 13 is supplied with power from the motor power supply circuit 12. The motor drive unit 13 drives the motor 4 using the power supplied from the motor power supply circuit 12 according to the command value received from the control unit 17.

[0030] The power supply determination unit 14 determines whether or not power is being supplied from the power cut-off unit 11 to the motor power supply circuit 12. In other words, the power supply determination unit 14 determines the power supply status to the motor power supply circuit 12. For example, the power supply determination unit 14 determines whether or not power is being supplied to the motor power supply circuit 12 based on the current value or voltage value at the connection point 83.

[0031] If the power supply determination unit 14 determines that the power supply to the motor power supply circuit 12 has been cut off, it transmits information indicating that the power supply has been cut off (hereinafter sometimes referred to as power cut-off information) to the control unit 17.

[0032] On the other hand, if the power supply determination unit 14 determines that power is being supplied to the motor power supply circuit 12, it transmits information indicating that power is being supplied (hereinafter sometimes referred to as power supply information) to the control unit 17.

[0033] The control unit 17 may also determine whether power is being supplied from the power cut-off unit 11 to the motor power supply circuit 12 based on whether the power supply determination unit 14 has detected a current value or voltage value at the connection point 83. In this case, the control unit 17 determines that it has received power supply information if the power supply determination unit 14 has detected a current value or voltage value at the connection point 83. On the other hand, the control unit 17 determines that it has received power cut-off information if the power supply determination unit 14 has not detected a current value or voltage value at the connection point 83.

[0034] The power cutoff function determination unit 15 determines whether or not the robot control device 10 has a power cutoff function. That is, the power cutoff function determination unit 15 determines whether or not the power cutoff function exists. For example, the power cutoff function determination unit 15 determines that the robot control device 10 has a power cutoff function if it can receive a specific signal from the power cutoff unit 11. Conversely, the power cutoff function determination unit 15 determines that the robot control device 10 does not have a power cutoff function if it cannot receive a specific signal from the power cutoff unit 11.

[0035] The power cutoff function determination unit 15 determines, for example, that the robot control device 10 has a power cutoff function if the power cutoff unit 11 is attached to the robot control device 10 and the power cutoff function determination unit 15 is connected to the power cutoff unit 11.

[0036] On the other hand, the shut-off function determination unit 15 determines, for example, that the robot control device 10 does not have a power shut-off function if the robot control device 10 does not have a power shut-off unit 11 and the shut-off function determination unit 15 is connected to the conductive unit 50B, which will be described later. If the shut-off function determination unit 15 determines that the robot control device 10 has a power shut-off function, it transmits a determination result indicating that the power shut-off function exists (hereinafter sometimes referred to as shut-off function determination information) to the control unit 17.

[0037] The control unit 17 is supplied with power from the control unit power supply circuit 16. The control unit 17 controls the motor drive unit 13, the power supply determination unit 14, the cutoff function determination unit 15, the control unit power supply circuit 16, the external signal detection unit 18, and the signal output unit 19. Based on the position information detected by the position detector 5, the control unit 17 performs calculations to determine the command value for the motor 4 and transmits the command value to the motor drive unit 13. The control unit 17 controls the robot arm 70 by controlling the motor drive unit 13. The control unit 17 also performs other controls to operate the robot arm 70.

[0038] The control unit 17 activates a function to transition to the main circuit power cut-off state (transition function) when the cut-off function determination unit 15 determines that the robot control device 10 has a power cut-off function. In other words, when the control unit 17 receives cut-off function determination information from the cut-off function determination unit 15, it activates the function to transition to the main circuit power cut-off state.

[0039] The main circuit power cut-off state is a condition in which the power supply to the motor power circuit 12 is intentionally cut off by the user. By transitioning to the main circuit power cut-off state, the motor 4 will not operate, allowing the user to perform maintenance and other tasks.

[0040] On the other hand, if the control unit 17 determines that the robot control device 10 does not have a power cut-off function, it disables the function to transition to the main circuit power cut-off state.

[0041] The control unit 17 determines, when the power supply determination unit 14 determines that the power supply to the motor power supply circuit 12 has been cut off, whether the power cutoff to the motor power supply circuit 12 is a normal cutoff intended by the user or an abnormal cutoff that was not intended by the user. If the power cutoff unit 11 cuts off the power to the motor power supply circuit 12 due to user operation, the power cutoff to the motor power supply circuit 12 is considered normal. On the other hand, if the power cutoff to the motor power supply circuit 12 is caused by a malfunction or user error, the power cutoff to the motor power supply circuit 12 is considered abnormal. In addition, if a power outage occurs, the power to the motor power supply circuit 12 will also be cut off.

[0042] If the power to the motor power supply circuit 12 is cut off normally, it means that the user intentionally cut off the power to the motor power supply circuit 12 by operating the power cut-off unit 11. On the other hand, if the power to the motor power supply circuit 12 is cut off abnormally, it means that the power to the motor power supply circuit 12 was cut off unintentionally by the user.

[0043] When the control unit 17 receives power interruption information from the power supply determination unit 14, it determines which came first: the timing of receiving this power interruption information or the timing of receiving signal detection information from the external signal detection unit 18.

[0044] If the control unit 17 receives power cutoff information after receiving signal detection information, it determines that the power cutoff unit 11 has successfully cut off the power. If the user wants to stop the motor 4 for maintenance or other reasons, they operate the signal input unit 20 to send an external signal from the signal input unit 20 to the external signal detection unit 18. After this, the user operates the power cutoff unit 11 to cut off the power to the motor power circuit 12. As a result, the control unit 17 receives signal detection information from the external signal detection unit 18, and then receives power cutoff information from the power supply determination unit 14.

[0045] If the control unit 17 receives power interruption information after receiving signal detection information, it determines that the power interruption was performed successfully because the user intentionally interrupted the power to the motor power supply circuit 12.

[0046] Thus, if the power cutoff to the motor power supply circuit 12 occurs after an external signal is input to the external signal detection unit 18, the control unit 17 determines that the power cutoff to the motor power supply circuit 12 was performed normally by the power cutoff unit 11. If the control unit 17 determines that the power supply cutoff to the motor power supply circuit 12 was performed normally by the power cutoff unit 11, it does not control the motor drive unit 13 while the power supply is cut off.

[0047] On the other hand, if the control unit 17 receives power interruption information before receiving signal detection information, it determines that the power interruption to the motor power supply circuit 12 is an abnormal power interruption. In other words, if the power interruption to the motor power supply circuit 12 occurs before an external signal is input to the external signal detection unit 18, the control unit 17 determines that the power interruption to the motor power supply circuit 12 was caused by some abnormality.

[0048] Thus, in the robot control device 10, the motor power supply circuit 12 is connected to the external power supply 2 via the power cut-off unit 11, while the control unit power supply circuit 16 is connected to the external power supply 2 without going through the power cut-off unit 11. When the power cut-off unit 11 cuts off the power supply, the power supply to the motor power supply circuit 12 is cut off while the power supply to the control unit 17 is maintained. When the power cut-off unit 11 releases the power supply cut-off and restarts the robot arm 70, the control unit 17 controls the motor drive unit 13 without restarting. As a result, the robot control device 10 can shorten the time until the robot arm 70 can be restarted.

[0049] The robot control device 10 may also have a locking mechanism that locks the power cut-off unit 11 in a state where it has cut off the power supply to the motor power circuit 12. In this case, for example, the power cut-off unit 11 may be equipped with a fixing device that can fix the power supply cut-off state according to user operation, and a locking mechanism that prevents anyone other than the user who fixed the device from releasing it.

[0050] Figure 3 is a diagram illustrating the fixing device and locking mechanism arranged in the robot control device according to the embodiment. The power cut-off unit 11 is provided with, for example, a switching mechanism 61 for switching between supplying and cutting off power, a fixing device 62 for fixing the switching mechanism 61, and a locking mechanism 63 for fixing the fixing device 62 so that it cannot be removed. When switching the switching mechanism 61, the locking mechanism 63 is released by a key held by the user, the fixing device 62 is removed, and then the switching mechanism 61 is operated.

[0051] Furthermore, the power cut-off section 11 may be provided with a cover instead of the fixing device 62 to prevent contact with the switching mechanism 61. Figure 4 is a diagram illustrating the cover and locking mechanism arranged in the robot control device according to this embodiment.

[0052] The power cut-off unit 11 is provided with a switching mechanism 61, a cover 64 that covers the switching mechanism 61, and a locking mechanism 62 that secures the cover 64 so that it cannot be removed. In this case, when switching the switching mechanism 61, the locking mechanism 63 is released by a key held by the user, the cover 64 is removed, and then the switching mechanism 61 is operated.

[0053] Next, the principle by which the robot control device 10 can shorten the time until the robot arm 70 can be restarted will be explained using Figure 5. Figure 5 is a diagram illustrating the state in which the power cut-off unit of the robot control device according to the embodiment has cut off the power.

[0054] When the power cut-off unit 11 is opened by user operation, the power cut-off unit 11 cuts off the power supply to the motor power circuit 12. Even though the power cut-off unit 11 cuts off the power supply, power continues to be supplied to the control unit 17, so the control unit 17 continues to operate. At this time, power is not supplied to the motor drive unit 13, so the motor drive unit 13 does not drive the motor 4. Therefore, even if the control unit 17 transmits an unexpected command value to the motor drive unit 13, the motor 4 will not be driven, and unexpected movements of the robot arm 70 can be prevented.

[0055] In Figure 5, the parts of the robot control system 1 that continue to operate even when the power cut-off unit 11 cuts off the power supply are shown with thick lines. Note that when the power cut-off unit 11 cuts off the power supply, power is not supplied to the power supply determination unit 14 and the cut-off function determination unit 15, but the power supply determination unit 14 and the cut-off function determination unit 15 remain operational. That is, the power supply determination unit 14 is in a state where it can determine whether or not power is being supplied to the motor power supply circuit 12, and the cut-off function determination unit 15 is in a state where it can determine whether or not the power cut-off function is present.

[0056] The power supply determination unit 14 and the circuit breaker determination unit 15 operate using power supplied from, for example, the control unit 17. Alternatively, the power supply determination unit 14 and the circuit breaker determination unit 15 may operate using power directly supplied from an external power source 2. In this case, a power supply circuit is provided between the connection point 81 and the power supply determination unit 14, and a power supply circuit is provided between the connection point 81 and the circuit breaker determination unit 15.

[0057] The power interruption function determination unit 15 may transmit power interruption function determination information to the control unit 17 in advance, before the power interruption unit 11 interrupts the power supply. In this case, the power interruption function determination unit 15 does not need to operate when the power interruption unit 11 interrupts the power supply. Although the control unit 17 is in a state where it can transmit command values ​​to the motor drive unit 13, the connection lines between the control unit 17 and the motor drive unit 13 are not shown with thick lines in Figure 5.

[0058] For example, if the power supply to the control unit 17 is interrupted, the control unit 17 reads the control program from memory (not shown) when it starts up, so it takes time from when power is supplied to the control unit 17 until the robot arm 70 can be operated.

[0059] In this embodiment, the robot control device 10 can supply power to the control unit 17 even when power is not supplied to the motor drive unit 13. Therefore, when the power cut-off unit 11 resumes power supply, there is no need to restart the control unit 17. As a result, the robot control device 10 can shorten the time until the robot arm 70 can be restarted.

[0060] Next, the state transition flow of the robot control device 10 will be explained. Figure 6 is a flowchart showing the processing procedure executed by the robot control device when the robot control device according to the embodiment transitions from the normal operation state to the main circuit power cut-off state.

[0061] The state in which the power supply cutoff unit 11 does not cut off the power supply to the motor power supply circuit 12 (the state in which the power supply is not cut off) is defined as the normal operating state, and the state in which the power supply cutoff unit 11 cuts off the power supply to the motor power supply circuit 12 (the state in which the power supply is cut off) is defined as the main circuit power cutoff state.

[0062] In order for the robot control device 10 to transition from a normal operating state to a main circuit power cut-off state, it is necessary to receive an external signal from the signal input unit 20 and then cut off the power supply to the motor power circuit 12 using the power cut-off unit 11.

[0063] If the user wishes to stop the electric motor 4 for maintenance or other reasons, they switch the robot control device 10 from the normal operating state to the main circuit power cut-off state. In this case, the user operates the signal input unit 20 to send an external signal from the signal input unit 20 to the external signal detection unit 18. As a result, the external signal detection unit 18 receives the external signal from the signal input unit 20 (step S10). The control unit 17 then receives signal detection information from the external signal detection unit 18 and detects that an external signal has been input to the robot control device 10 (step S20).

[0064] After operating the signal input unit 20, the user operates the power cut-off unit 11 so that it opens. As a result, the power cut-off unit 11 opens, cutting off the power supply to the motor power circuit 12 (step S30). The control unit 17 then receives power cut-off information from the power supply determination unit 14 and detects that no power is being supplied to the motor power circuit 12 (step S40).

[0065] In this manner, when an appropriate operation is performed to transition from the normal operating state to the main circuit power cut-off state, the control unit 17 receives signal detection information from the external signal detection unit 18, and then receives power cut-off information from the power supply determination unit 14. As a result, the control unit 17 determines that the power cut-off to the motor power supply circuit 12 has been successfully performed by the power cut-off unit 11, and the robot control device 10 transitions from the normal operating state to the main circuit power cut-off state.

[0066] On the other hand, if the power supply to the motor power supply circuit 12 is interrupted when no external signal is being input, the control unit 17 determines that the power supply interruption is due to a malfunction or erroneous operation and is therefore an abnormal condition. In other words, if the control unit 17 receives power interruption information when it has not received signal detection information, it determines that the power interruption to the motor power supply circuit 12 is an abnormal power interruption.

[0067] Figure 7 is a flowchart showing the processing procedure performed by the robot control device when the robot control device according to the embodiment transitions from a main circuit power off state to a normal operation state.

[0068] For the robot control device 10 to transition from a main circuit power off state to a normal operating state, the control unit 17 must confirm that it has not received signal detection information after receiving power supply information.

[0069] When the user wants to restart the operation of the electric motor 4 after maintenance is complete, they switch the robot control device 10 from the main circuit power cut-off state to the normal operation state. In this case, the user operates the power cut-off unit 11 so that it closes. This causes the power cut-off unit 11 to release the power supply cut-off (step S110). As a result, the robot control device 10 resumes supplying power to the electric motor power supply circuit 12. The control unit 17 then receives power supply information from the power supply determination unit 14 and detects that power is being supplied to the electric motor power supply circuit 12 (step S120).

[0070] After operating the power cut-off unit 11, the user operates the signal input unit 20 to stop receiving external signals. As a result, the signal input unit 20 stops inputting external signals to the external signal detection unit 18, and the external signal detection unit 18 stops accepting external signals from the signal input unit 20 (step S130).

[0071] When the external signal detection unit 18 finishes receiving external signals from the signal input unit 20, it stops transmitting signal detection information to the control unit 17. As a result, the control unit 17 detects that no external signals are being input from the signal input unit 20 to the robot control device 10 (step S140). As a result, the control unit 17 determines that the power cut-off to the motor power supply circuit 12 has been successfully released by the power cut-off unit 11, and the robot control device 10 transitions from the main circuit power cut-off state to the normal operation state.

[0072] In the robot control device 10, when the power cut-off unit 11 releases the power supply interruption and restarts the robot arm 70, the control unit 17 controls the motor drive unit 13 without restarting.

[0073] Next, we will explain the detection of abnormalities such as malfunctions or misoperations, and the prevention of misoperations. Figure 8 is a diagram illustrating the state of the robot control device according to the embodiment. As shown in Figure 8, the state of the robot control device 10 is determined by the combination of whether or not there is an external signal input to the robot control device 10 and whether or not power is supplied to the motor power supply circuit 12.

[0074] When there is no external signal input to the robot control device 10 and power is supplied to the motor power supply circuit 12, the robot control device 10 is in a normal operating state. When an external signal is input to the robot control device 10 by user operation from this state, the robot control device 10 enters an intermediate state between the normal operating state and the main circuit power cut-off state. In other words, when there is an external signal input to the robot control device 10 and power is supplied to the motor power supply circuit 12, the robot control device 10 enters an intermediate state.

[0075] Subsequently, if the power cut-off unit 11 cuts off the power supply to the motor power circuit 12 due to user operation, the robot control device 10 enters a main circuit power cut-off state. In other words, if there is an external signal input to the robot control device 10 and no power supply to the motor power circuit 12, the robot control device 10 is in a main circuit power cut-off state.

[0076] From this state, when the power cut-off unit 11 resumes supplying power to the motor power supply circuit 12 through user operation, the robot control device 10 enters an intermediate state in the transition from the main circuit power cut-off state to the normal operation state. In other words, when there is an external signal input to the robot control device 10 and power is supplied to the motor power supply circuit 12, the robot control device 10 enters an intermediate state in the transition.

[0077] Subsequently, when the input of external signals to the robot control device 10 is stopped by user operation, the robot control device 10 returns to a normal operating state. In other words, when there is no external signal input to the robot control device 10 and power is supplied to the motor power supply circuit 12, the robot control device 10 returns to a normal operating state.

[0078] If there is no external signal input to the robot control device 10 and no power supply to the motor power supply circuit 12, the robot control device 10 will enter an abnormality detection state. In this case, there is a possibility that the robot control device 10 has been operated incorrectly by the user or that the robot control device 10 has malfunctioned.

[0079] Furthermore, even if an external signal is input to the robot control device 10 while an abnormality is detected, the robot control device 10 will remain in the abnormality detection state. In other words, even if an external signal is input to the robot control device 10 after the power supply to the motor power circuit 12 has been cut off, the robot control device 10 will remain in the abnormality detection state.

[0080] Thus, the robot control device 10 may be in a normal operating state or a main circuit power off state, or it may be in an intermediate state or an abnormality detection state. The control unit 17 performs operations according to the state shown in Figure 8.

[0081] When the main circuit power is shut off and a user is working near the robot, such as the robot arm 70, it is undesirable for the electric motor 4 to be driven unintentionally by the user. If someone other than the user can operate the switching mechanism 61 of the power shut-off unit 11, the system may unintentionally transition from the main circuit power shut-off state to an intermediate state or normal operation state. In the normal operation state, the electric motor 4 is driven by a command from the control unit 17, and in the intermediate state, power is supplied to the electric motor power circuit 12, so there is a risk that the electric motor 4 may be driven due to a malfunction of the control unit 17. The robot control device 10 of this embodiment is provided with a locking mechanism 63 for fixing the fixing device 62 or cover 64. This makes it possible to prevent the locking mechanism 63 from being released in order to operate the switching mechanism 61 by someone other than the user who has fixed the switching mechanism 61 of the power shut-off unit 11, thus preventing the electric motor 4 from being driven unintentionally by the user.

[0082] Figure 9 is a diagram illustrating the driveability status of the electric motor controlled by the robot control device according to the embodiment. As shown in Figure 9, the driveability of the electric motor 4 is determined by the combination of whether or not there is an external signal input to the robot control device 10 and whether or not power is supplied to the electric motor power supply circuit 12.

[0083] When there is no external signal input to the robot control device 10 and power is supplied to the motor power supply circuit 12, the robot control device 10 is in a normal operating state and the motor 4 is drivable.

[0084] If an external signal is input to the robot control device 10 by user operation from this state, the robot control device 10 will enter an intermediate state between the normal operating state and the main circuit power cut-off state, and the motor 4 will become unable to drive. In other words, if there is an external signal input to the robot control device 10 and power is supplied to the motor power supply circuit 12, the motor 4 will become unable to drive.

[0085] Subsequently, when the power cut-off unit 11 cuts off the power supply to the motor power circuit 12 due to user operation, the robot control device 10 enters a main circuit power cut-off state. In this case, since the power supply is properly cut off, the motor 4 becomes inoperable. In other words, since the robot control device 10 enters a main circuit power cut-off state, the motor 4 becomes inoperable. That is, if there is an external signal input to the robot control device 10 and no power supply to the motor power circuit 12, the motor 4 becomes inoperable.

[0086] From this state, if the power cut-off unit 11 resumes supplying power to the motor power supply circuit 12 through user operation, the robot control device 10 enters an intermediate state between the main circuit power cut-off state and the normal operation state, and the motor 4 becomes inoperable. In other words, if there is an external signal input to the robot control device 10 and power is supplied to the motor power supply circuit 12, the motor 4 becomes inoperable.

[0087] Subsequently, when the input of external signals to the robot control device 10 is stopped by user operation, the robot control device 10 returns to a normal operating state, and the electric motor 4 becomes drivable. In other words, when there is no external signal input to the robot control device 10 and power is supplied to the electric motor power supply circuit 12, the robot control device 10 returns to a normal operating state, and the electric motor 4 becomes drivable.

[0088] If there is no external signal input to the robot control device 10 and no power supply to the motor power circuit 12, the robot control device 10 will enter an abnormality detection state, and the motor 4 will become unable to drive.

[0089] Thus, the robot control device 10 does not drive the electric motor 4 during transitional states to prevent the robot arm 70 from moving due to erroneous operation. Also, when the main circuit power supply is cut off, the electric motor 4 cannot be driven because it is not supplied with power. Furthermore, when the robot control device 10 detects an abnormality, it does not drive the electric motor 4 because there is a high probability that a malfunction or erroneous operation has occurred. In this way, the robot control device 10 achieves both the detection of abnormalities such as malfunctions or erroneous operation and the prevention of erroneous operation.

[0090] In this way, the robot control device 10 maintains a state where power is supplied to the control unit 17 while cutting off the power supply to the electric motor 4 driven by the control unit 17. This allows the robot control device 10 to maintain the operation of the control unit 17 while preventing the electric motor 4 from operating.

[0091] Here, we will describe the robot control device of the comparative example (hereinafter referred to as the comparative control device). When the comparative control device is to perform maintenance on the robot, it will not accept power supply to the comparative control device in order to ensure that maintenance is performed safely. In other words, in the case of the comparative control device, even if the comparative control device operates unexpectedly during maintenance, the robot will not operate before the maintenance is performed. By cutting off the power supply to this comparative control device, the power supply to the entire comparative control device is lost. In other words, the power supply to the control unit of the comparative control device is also lost. In this case, once maintenance is completed, the comparative control device needs to be restarted. Since this restart takes time, the comparative control device cannot operate the robot immediately after power is supplied.

[0092] On the other hand, in the embodiment, when the robot control device 10 performs maintenance on the robot arm 70, it cuts off the power supply from the external power supply 2 to the motor power supply circuit 12, but does not cut off the power supply to the control unit 17. As a result, even if the robot control device 10 performs an unexpected operation, the robot arm 70 will not move, and maintenance will be performed in that state, and a restart will not be necessary when the maintenance is completed. Therefore, the robot control device 10 can shorten the time from when maintenance on the robot arm 70 is completed until the robot arm 70 is restarted.

[0093] Incidentally, the power cut-off unit 11 may be configured to be detachable from the robot control device 10. Figure 10 is a diagram illustrating an example of the configuration of a robot control device when a first example of a detachable power cut-off unit according to the embodiment is attached to the robot control device. Among the components in Figure 10, components that achieve the same function as the robot control device 10 shown in Figure 2 are denoted by the same reference numerals, and redundant explanations are omitted.

[0094] Hereinafter, the first example of a detachable power cut-off unit will be described as power cut-off unit 11A, and the second example of a detachable power cut-off unit will be described as power cut-off unit 11C. Furthermore, the robot control device to which power cut-off unit 11A is attached will be described as robot control device 10A, and the robot control device to which power cut-off unit 11C is attached will be described as robot control device 10C.

[0095] The power cut-off units 11A and 11C perform the same processing as the power cut-off unit 11. That is, like the power cut-off unit 11, the power cut-off units 11A and 11C switch between supplying and cutting off power from the external power source 2 to the motor power circuit 12 according to user operation.

[0096] When a detachable power cutoff unit 11A is attached, the robot control device 10A comprises a circuit board 40, a control unit 17, and a connector 31. The power cutoff unit 11A is configured to be detachable from the robot control device 10A and includes a circuit breaker 110 and a connector 32A. The circuit board 40 also includes an electric motor power supply circuit 12, a cutoff function determination unit 15, and a connector 33A.

[0097] Note that in Figure 10, the motor drive unit 13, power supply determination unit 14, control unit power supply circuit 16, external signal detection unit 18, and signal output unit 19 are not shown. The motor drive unit 13, power supply determination unit 14, control unit power supply circuit 16, external signal detection unit 18, and signal output unit 19 may be placed on the circuit board 40 or on a different circuit board. Also, the control unit 17 may be placed on the circuit board 40 or on a different circuit board.

[0098] Connectors 32A and 33A are detachable. When connector 32A is attached to connector 33A, the power cut-off unit 11A is attached to the circuit board 40, and the power cut-off unit 11A is connected to connector 31. The power cut-off unit 11A may have a connector that can be attached to connector 31.

[0099] Connector 31 of the robot control device 10A is connected to the external power supply 2 by two connecting wires. Connector 31 is also connected to the circuit breaker 110 by two connecting wires, and the circuit breaker 110 is connected to connector 32A by two connecting wires. In addition, connector 33A is connected to the motor power supply circuit 12 by two connecting wires.

[0100] When connector 32A is attached to connector 33A, the two connecting wires connected to the circuit breaker 110 and the two connecting wires connected to the motor power supply circuit 12 are connected via connectors 32A and 33A. That is, one connecting wire connected to the circuit breaker 110 and one connecting wire connected to the motor power supply circuit 12 are connected via connectors 32A and 33A. Also, the other connecting wire connected to the circuit breaker 110 and the other connecting wire connected to the motor power supply circuit 12 are connected via connectors 32A and 33A.

[0101] Furthermore, the circuit breaker function determination unit 15 and the connector 33A are connected by two connecting wires. The connector 32A has a folded portion (folded path) 111 in which the connecting wire is folded back. The folded portion 111 is formed by bending one connecting wire into a U-shape.

[0102] When connector 32A is attached to connector 33A, one end of the U-shaped folded portion 111 is connected to one connection line of the circuit breaker function determination unit 15 via connectors 32A and 33A, and the other end is connected to the other connection line of the circuit breaker function determination unit 15 via connectors 32A and 33A.

[0103] In other words, one connecting wire extending from the circuit breaker function determination unit 15 is connected to the folded-back section 111 via connectors 33A and 32A, folded back at the folded-back section 111, and connected to the other connecting wire extending from the circuit breaker function determination unit 15 via connectors 32A and 33A.

[0104] In this way, when connector 32A is attached to connector 33A, the two connecting wires extending from the circuit breaker function determination unit 15 are connected at the folded portion 111. Conversely, when connector 32A is removed from connector 33A, the two connecting wires extending from the circuit breaker function determination unit 15 become disconnected from each other.

[0105] When connector 32A is attached to connector 33A, the two connecting wires extending from the circuit breaker function determination unit 15 are connected at the folded portion 111, so the circuit breaker function determination unit 15 can detect that connector 32A has been attached to connector 33A.

[0106] The shut-off function determination unit 15 transmits a specific signal from one of the connection lines connected to connector 33A, and if it receives this specific signal from the other connection line connected to connector 33A, it determines that the robot control device 10A has a power shut-off function.

[0107] On the other hand, the shut-off function determination unit 15 determines that the robot control device 10A does not have a power shut-off function if it transmits a specific signal from one of the connection lines connected to the connector 33A, but fails to receive this specific signal from the other connection line connected to the connector 33A.

[0108] If the power cutoff function determination unit 15 determines that the robot control device 10A has a power cutoff function, it transmits power cutoff function determination information to the control unit 17 indicating that the power cutoff function exists. On the other hand, if the power cutoff function determination unit 15 determines that the robot control device 10A does not have a power cutoff function, it does not transmit power cutoff function determination information to the control unit 17.

[0109] When the control unit 17 receives information determining the interruption function, it enables the function to transition to the main circuit power supply interruption state. If it does not receive information determining the interruption function, it disables the function to transition to the main circuit power supply interruption state. If the function to transition to the main circuit power supply interruption state is disabled, the control unit 17 determines that the power supply to the motor power supply circuit 12 is interrupted, which is an abnormal power interruption.

[0110] Thus, the power cut-off unit 11A is provided with a connector 32A that can be attached and detached inexpensively, and a loopback section 111, which is a loopback path for the signal, is arranged on the connector 32A. As a result, the cut-off function determination unit 15 can easily determine whether or not the power cut-off function is active based on whether or not the signal is loopbacked.

[0111] Figure 11 is a diagram illustrating an example of the configuration of a robot control device when a first example of a detachable conductive part is attached to the robot control device according to the embodiment. Among the components in Figure 11, components that achieve the same function as the robot control device 10A shown in Figure 10 are denoted by the same reference numerals, and redundant explanations are omitted.

[0112] In the following, the detachable conductive part of the first example will be described as conductive part 50B, and the detachable conductive part of the second example will be described as conductive part 50D. Furthermore, the robot control device to which conductive part 50B is attached will be described as robot control device 10B, and the robot control device to which conductive part 50D is attached will be described as robot control device 10D.

[0113] When the conductive part 50B is installed, the robot control device 10B is equipped with the conductive part 50B instead of the power cut-off unit 11A, compared to the robot control device 10A.

[0114] The conductive part 50B, compared to the power cutoff part 11A, does not have a power cutoff function to cut off the power supplied from the external power source 2. The conductive part 50B has a terminal block 51 and a connector 32B. In other words, compared to the power cutoff part 11A, the conductive part 50B has a terminal block 51 instead of a circuit breaker 110 and a connector 32B instead of a connector 32A.

[0115] Connector 32B does not have the folded portion 111 compared to connector 32A. Therefore, even when connector 32B and connector 33A are connected, one connection wire connected to connector 33A and the other connection wire are not connected.

[0116] Connector 32B without the folded portion 111 is a connector for the conductive portion 50B that does not have a power cut-off function, and connector 32A with the folded portion 111 is a connector for the power cut-off portion 11A that does have a power cut-off function. In other words, a robot control device without the folded portion 111 is a robot control device 10B that does not have a power cut-off function, and a robot control device with the folded portion 111 is a robot control device 10A that does have a power cut-off function.

[0117] The power cutoff function determination unit 15 can determine whether the robot control devices 10A and 10B have a power cutoff function by transmitting a specific signal from one of the connection lines connected to connector 33A when connectors 32A and 33A are connected, or when connectors 32B and 33A are connected.

[0118] The cutoff function determination unit 15 transmits a specific signal from one of the connection lines connected to connector 33A, and if it does not receive this specific signal from the other connection line connected to connector 33A, it determines that the device does not have a power cutoff function.

[0119] In this case, the shut-off function determination unit 15 does not transmit the shut-off function determination information to the control unit 17. If the control unit 17 has not received the shut-off function determination information, it disables the function to transition to the main circuit power supply shut-off state. If the function to transition to the main circuit power supply shut-off state is disabled, the control unit 17 determines that the power supply to the motor power supply circuit 12 is cut off, which is an abnormal power interruption.

[0120] Thus, the power cut-off unit 11A and the conductive unit 50B are detachable from the circuit board 40. By removing the power cut-off unit 11A from the circuit board 40 and attaching the conductive unit 50B, the power cut-off unit 11A can be replaced with the conductive unit 50B in the robot control device 10A. Similarly, by removing the conductive unit 50B from the circuit board 40 and attaching the power cut-off unit 11A, the conductive unit 50B can be replaced with the power cut-off unit 11A in the robot control device 10B.

[0121] Figure 12 is a diagram illustrating an example of the configuration of a robot control device when a second example of a detachable power cut-off unit is attached to the robot control device according to the embodiment. Among the components in Figure 12, components that achieve the same function as the robot control device 10A shown in Figure 10 are denoted by the same reference numerals, and redundant explanations are omitted.

[0122] When the detachable power cutoff unit 11C is installed, the robot control device 10C has the power cutoff unit 11C instead of the power cutoff unit 11A, compared to the robot control device 10A. The power cutoff unit 11C is detachable from the robot control device 10C and includes a circuit breaker 110, a connector 32C, and a signal transmitting unit 112.

[0123] Furthermore, the circuit board 41 of the robot control device 10C has a connector 33C instead of connector 33A, compared to the circuit board 40 of the robot control device 10A. That is, the circuit board 41 of the robot control device 10C has the motor power supply circuit 12, the cutoff function determination unit 15, and the connector 33C. Note that the motor drive unit 13, power supply determination unit 14, control unit power supply circuit 16, external signal detection unit 18, and signal output unit 19 are not shown in Figure 12.

[0124] Connectors 32C and 33C are detachable. When connector 32C is attached to connector 33C, the power cutoff unit 11C is attached to the circuit board 41. The connection configuration between the circuit breaker 110 and the motor power supply circuit 12 is the same whether connector 32C is attached to connector 33C or connector 32A is attached to connector 33A.

[0125] In other words, when connector 32C is attached to connector 33C, the two connecting wires connected to the circuit breaker 110 and the two connecting wires connected to the motor power supply circuit 12 are connected via connectors 32C and 33C.

[0126] Furthermore, the circuit breaker function determination unit 15 and connector 33C are connected by a single connecting wire. Connector 32C is connected to the signal transmission unit 112. When connector 32C is attached to connector 33C, the connecting wire extending from the signal transmission unit 112 to connector 32C and the connecting wire extending from the circuit breaker function determination unit 15 to connector 33C are connected via connectors 32C and 33C. In other words, when connector 32C is attached to connector 33C, the circuit breaker function determination unit 15 is connected to the signal transmission unit 112 via connectors 33C and 32C.

[0127] Thus, when connector 32C is attached to connector 33C, the circuit breaker function determination unit 15 and the signal transmission unit 112 become connected, and when connector 32C is removed from connector 33C, the circuit breaker function determination unit 15 and the signal transmission unit 112 become disconnected.

[0128] The signal transmitting unit 112 transmits a signal at a specific interval. When connector 32C is attached to connector 33C, the signal transmitted from the signal transmitting unit 112 is transmitted to the shut-off function determination unit 15 via connectors 32C and 33C. If the shut-off function determination unit 15 receives a signal transmitted from the signal transmitting unit 112, it determines that the robot control device 10C has a power shut-off function. On the other hand, if the shut-off function determination unit 15 does not receive a signal from the signal transmitting unit 112, it determines that the robot control device 10C does not have a power shut-off function.

[0129] If the power cutoff function determination unit 15 determines that the robot control device 10C has a power cutoff function, it transmits power cutoff function determination information to the control unit 17 indicating that the power cutoff function exists. On the other hand, if the power cutoff function determination unit 15 determines that the robot control device 10C does not have a power cutoff function, it does not transmit power cutoff function determination information to the control unit 17.

[0130] When the control unit 17 receives information determining the interruption function, it enables the function to transition to the main circuit power supply interruption state. If it does not receive information determining the interruption function, it disables the function to transition to the main circuit power supply interruption state. If the function to transition to the main circuit power supply interruption state is disabled, the control unit 17 determines that the power supply to the motor power supply circuit 12 is interrupted, which is an abnormal power interruption.

[0131] As described above, the power cut-off unit 11C is provided with a connector 32C that can be attached and detached inexpensively, and the signal transmitting unit 112 is connected to the connector 32C. This makes it possible for the cut-off function determination unit 15 to easily determine whether or not the power cut-off function is active based on whether or not it receives a signal from the signal transmitting unit 112.

[0132] Figure 13 is a diagram illustrating an example of the configuration of a robot control device when a second example of a detachable conductive part is attached to the robot control device according to the embodiment. Among the components in Figure 13, components that achieve the same function as the robot control device 10B shown in Figure 11 or the robot control device 10C shown in Figure 12 are denoted by the same reference numerals, and redundant explanations are omitted.

[0133] When the conductive part 50D is attached, the robot control device 10D has the conductive part 50D instead of the conductive part 50B, compared to the robot control device 10B. Also, the robot control device 10D has the same substrate 41 as the robot control device 10C.

[0134] Compared to conductive part 50B, conductive part 50D has connector 32C instead of connector 32B. That is, conductive part 50D has terminal block 51 and connector 32C. Also, compared to power cut-off part 11C, conductive part 50D does not have signal transmission part 112.

[0135] The connector 32C of the conductive part 50D is not connected to the signal transmitting unit 112, unlike the connector 32C of the power cut-off unit 11C. Therefore, even if connector 32C and connector 33C are connected in the robot control device 10D, the cut-off function determination unit 15 is not connected to the signal transmitting unit 112.

[0136] A robot control device that does not have a signal transmitting unit 112 is a robot control device 10D that does not have a power cut-off function, and a robot control device that has a signal transmitting unit 112 is a robot control device 10C that has a power cut-off function.

[0137] The power cutoff function determination unit 15 can determine whether the robot control devices 10C and 10D have a power cutoff function based on whether or not a specific signal has been received while connectors 32C and 33C are connected.

[0138] The cutoff function determination unit 15 determines that the power cutoff function is not present if it does not receive a specific signal from the signal transmission unit 112. In this case, the cutoff function determination unit 15 does not transmit the cutoff function determination information to the control unit 17. If the control unit 17 has not received the cutoff function determination information, it disables the function to transition to the main circuit power cutoff state. If the function to transition to the main circuit power cutoff state is disabled, the control unit 17 determines that the power supply to the motor power supply circuit 12 is cut off, which is an abnormal power cutoff.

[0139] Thus, the power cut-off unit 11C and the conductive unit 50D are detachable from the circuit board 41. By removing the power cut-off unit 11C from the circuit board 41 and attaching the conductive unit 50D, the power cut-off unit 11C can be replaced with the conductive unit 50D in the robot control device 10C. Similarly, by removing the conductive unit 50D from the circuit board 41 and attaching the power cut-off unit 11C, the conductive unit 50D can be replaced with the power cut-off unit 11C in the robot control device 10D.

[0140] Figures 10 to 13 illustrate examples of configurations for robot control devices 10A to 10D in which the power cut-off units 11A and 11C or conductive units 50B and 50D can be attached and detached. However, the configuration of robot control devices in which the power cut-off units or conductive units can be attached and detached is not limited to the configurations of robot control devices 10A to 10D.

[0141] As described above, the robot control device 10 of this embodiment cuts off the power supply to the motor power supply circuit 12 without interrupting the power supply to the control unit 17, so that the supply of drive power to the motor 4 can be cut off while maintaining the operation of the control unit 17. As a result, the motor 4 can be kept in a non-operating state even while maintaining the operation of the control unit 17, so there is no need to restart the control unit 17 when restarting the motor 4. Therefore, the robot control device 10 can shorten the time from when the motor 4 is reliably stopped to when it is restarted.

[0142] Furthermore, since the control unit 17 determines the state of the robot control device 10 based on external signals, it can recognize that the user has intentionally cut off the power supply to the motor power circuit 12, rather than due to a malfunction. This enables the robot control device 10 to perform appropriate processing according to its state.

[0143] Next, the hardware configuration of the control unit 17 will be described. The control unit 17 is implemented by a processing circuit. The processing circuit may be a processor and memory that execute a program stored in memory, or it may be dedicated hardware.

[0144] Figure 14 is a diagram showing an example of the configuration of a processing circuit when the processing circuit of the control unit of the robot control device according to the embodiment is realized with a processor and memory. The processing circuit 90 shown in Figure 14 comprises a processor 91 and memory 92. When the processing circuit 90 is composed of a processor 91 and memory 92, each function of the processing circuit 90 is realized by software, firmware, or a combination of software and firmware. The software or firmware is written as a control program and stored in memory 92. In the processing circuit 90, each function is realized by the processor 91 reading and executing the control program stored in memory 92. In other words, the processing circuit 90 includes memory 92 for storing a control program that will result in the processing of the control unit 17 being executed. This control program can also be said to be a program that causes the control unit 17 to execute each function realized by the processing circuit 90. This control program may be provided on a computer-readable recording medium on which the control program is recorded, or it may be provided by other means such as a communication medium.

[0145] The control program has a modular configuration including a control unit 17, which is loaded into the main memory and generated in the main memory. Here, the processor 91 is, for example, a CPU (Central Processing Unit), processing unit, arithmetic unit, microprocessor, microcomputer, or DSP (Digital Signal Processor). The memory 92 is, for example, a non-volatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable ROM), EEPROM (Registered Trademark) (Electrically EPROM), magnetic disk, flexible disk, optical disk, compact disk, minidisc, or DVD (Digital Versatile Disc).

[0146] Figure 15 shows an example of the configuration of a processing circuit when the processing circuit in the control unit of the robot control device according to the embodiment is configured with dedicated hardware. The processing circuit 93 shown in Figure 15 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. The processing circuit 93 may be partially implemented with dedicated hardware and partially implemented with software or firmware. In this way, the processing circuit 93 can realize each of the above functions with dedicated hardware, software, firmware, or a combination thereof.

[0147] Furthermore, the control unit 17 and some of the components of the robot control device 10 may be implemented by the processing circuit described in Figure 14 or Figure 15. Also, the robot control device 10 may be implemented by the processing circuit described in Figure 14 or Figure 15.

[0148] In this embodiment, when the power supply cutoff unit 11 cuts off the power supply to the robot control device 10, the power supply to the control unit 17 is maintained while the power supply to the motor power circuit 12 is cut off. Then, when the power supply cutoff unit 11 releases the power supply cutoff and the robot arm 70 restarts, the robot control device 10 controls the motor drive unit 13 without restarting the control unit 17. As a result, the robot control device 10 can shorten the time from when maintenance on the robot, such as the robot arm 70, is completed until the robot is restarted.

[0149] The configurations shown in the above embodiments are merely examples, and can be combined with other known technologies. It is also possible to omit or modify parts of the configuration without departing from the gist of the invention. [Explanation of symbols]

[0150] 1 Robot control system, 2 External power supply, 4 Electric motor, 5 Position detector, 6 External equipment, 10, 10A~10D Robot control device, 11, 11A, 11C Power cutoff unit, 12 Electric motor power supply circuit, 13 Electric motor drive unit, 14 Power supply determination unit, 15 Cutoff function determination unit, 16 Control unit power supply circuit, 17 Control unit, 18 External signal detection unit, 19 Signal output unit, 20 Signal input unit, 31, 32A, 32B, 32C, 33A, 33C Connector, 40, 41 Circuit board, 50B, 50D Conductive part, 51 Terminal block, 61 Switching mechanism, 62 Fixing device, 63 Locking mechanism, 64 Cover, 70 Robot arm, 81~83 Connection point, 90, 93 Processing circuit, 91 Processor, 92 Memory, 110 Circuit breaker, 111 Folding part, 112 Signal transmission unit.

Claims

1. The electric motor drive unit that drives the electric motor of the robot, A control unit that controls the robot by controlling the electric motor drive unit, A motor power supply circuit that generates power to drive the motor from power from an external power source and supplies power to the motor drive unit, A control unit power supply circuit that generates power used to drive the control unit from the power of the external power supply and supplies power to the control unit, A power supply cutoff unit that cuts off the power supply to the motor power supply circuit according to user operation, A power supply determination unit that determines whether or not power is being supplied to the motor power supply circuit, An external signal detection unit that detects an external signal input according to the operation of the user, Equipped with, The motor power supply circuit is connected to the external power supply via the power cut-off unit, and the control unit power supply circuit is connected to the external power supply without going through the power cut-off unit. When the power cut-off unit cuts off the power supply, the power supply to the control unit is maintained while the power supply to the motor power supply circuit is cut off. The control unit, If the power supply determination unit determines that the power supply to the motor power supply circuit has been cut off, and the power supply to the motor power supply circuit is cut off after the detection of the external signal, the power supply cutoff unit determines that the power supply to the motor power supply circuit was cut off normally, and does not control the motor drive unit while the power supply is cut off, and controls the motor drive unit without restarting when the power supply cutoff unit releases the power supply cutoff and restarts the robot. A robot control device characterized by the following features.

2. The control unit, If the power supply determination unit determines that the power supply to the motor power supply circuit has been interrupted, and the interruption of the power supply to the motor power supply circuit occurred before the detection of the external signal, the unit determines that the interruption of the power supply to the motor power supply circuit is an abnormal interruption. The robot control device according to feature 1.

3. The power cut-off unit further includes a locking mechanism that locks the power supply to the motor power circuit in a state where it has cut off power. A robot control device according to claim 1 or 2, characterized in that it is a robot control device according to claim 1 or 2.

4. The aforementioned motor power supply circuit is located on a circuit board. The power cut-off unit is detachable from the circuit board. The aforementioned substrate has a conductive part that does not have a power cut-off function that can be attached and detached. The power cut-off unit can be removed from the substrate and the conductive unit can be attached, thereby making the power cut-off unit replaceable with the conductive unit. A robot control device according to claim 1 or 2, characterized in that it is a robot control device according to claim 1 or 2.

5. The system further includes a power cutoff function determination unit that determines whether or not it has the aforementioned power cutoff function, The control unit, If the cutoff function determination unit determines that the power cutoff function is present, the function to transition to the main circuit power cutoff state, which is a state in which the power supply to the motor power circuit has been cut off normally by the power cutoff unit, is enabled, and when the robot restarts, the motor drive unit is controlled without restarting. If the shut-off function determination unit determines that the power shut-off function is not present, the function to transition to the main circuit power shut-off state is disabled. The robot control device according to feature 4.

6. The control unit further includes a signal output unit that outputs a signal indicating an abnormality to an external device when it determines that the interruption of power supply to the motor power circuit is an abnormal interruption. The robot control device according to claim 2.

7. The electric motor that the robot possesses, A robot control device for controlling the robot, It has, The robot control device is A motor drive unit that drives the aforementioned electric motor, A control unit that controls the robot by controlling the electric motor drive unit, A motor power supply circuit that generates power to drive the motor from power from an external power source and supplies power to the motor drive unit, A control unit power supply circuit that generates power used to drive the control unit from the power of the external power supply and supplies power to the control unit, A power supply cutoff unit that cuts off the power supply to the motor power supply circuit according to user operation, A power supply determination unit that determines whether or not power is being supplied to the motor power supply circuit, An external signal detection unit that detects an external signal input according to the operation of the user, Equipped with, The motor power supply circuit is connected to the external power supply via the power cut-off unit, and the control unit power supply circuit is connected to the external power supply without going through the power cut-off unit. When the power cut-off unit cuts off the power supply, the power supply to the control unit is maintained while the power supply to the motor power supply circuit is cut off. The control unit, If the power supply determination unit determines that the power supply to the motor power supply circuit has been cut off, and the power supply to the motor power supply circuit is cut off after the detection of the external signal, the power supply cutoff unit determines that the power supply to the motor power supply circuit was cut off normally, and does not control the motor drive unit while the power supply is cut off, and controls the motor drive unit without restarting when the power supply cutoff unit releases the power supply cutoff and restarts the robot. A robot control system characterized by the following features.

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