Browse Prior Art Database

Freeze Control for Robot

IP.com Disclosure Number: IPCOM000039100D
Original Publication Date: 1987-Apr-01
Included in the Prior Art Database: 2005-Feb-01
Document File: 2 page(s) / 37K

Publishing Venue

IBM

Related People

Jarus, SW: AUTHOR

Abstract

With IBM 7547 robots for manufacturing, the robot may be halted safely by an Emergency Power Off (EPO) switch. To restart requires initializing procedures to be performed. The circuit disclosed provides a process interrupt/safety stop/freeze control by an interrupt of the processor disk which stops the robot arm but retains data relating to arm position. Thus, the robot may be restarted under processor control without requiring re-initialization. The circuit above applies two concepts. The first concept is the grounding of Pin 24 of the robot's CPU chip. This allows an interrupt to the robot's processor which stops the robot in-cycle, whether the robot is moving or waiting for an input.

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Freeze Control for Robot

With IBM 7547 robots for manufacturing, the robot may be halted safely by an Emergency Power Off (EPO) switch. To restart requires initializing procedures to be performed. The circuit disclosed provides a process interrupt/safety stop/freeze control by an interrupt of the processor disk which stops the robot arm but retains data relating to arm position. Thus, the robot may be restarted under processor control without requiring re-initialization. The circuit above applies two concepts. The first concept is the grounding of Pin 24 of the robot's CPU chip. This allows an interrupt to the robot's processor which stops the robot in-cycle, whether the robot is moving or waiting for an input. The interrupt also holds the robot outputs in their current state so, unlike the current EPO, the gripper will not drop its payload and the robot's fixtures will still hold parts aligned. When the pin is ungrounded, the robot continues with its cycle from exactly where it stopped. The second concept is the removal of power from the robot's arm servos. This is done by cutting power to the CR100 relay in the robot. Doing so allows the robot arm to move freely when pushed. The circuit consists of two relays, one of them needing three sets of contacts or an equivalent set of relays could be used. The circuit has two control lines and a neutral line. The +24-volt hold line allows the robot to move when the line is 'high'. This is held by the user's safety circuit. When a safety door is opened or a safety mat is stepped upon, the user's safety circuit line should...