Freeze Control for Robot
Original Publication Date: 1987-Apr-01
Included in the Prior Art Database: 2005-Feb-01
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.