Patent ID: 11958199
Assignee: SEIKO EPSON CORPORATION
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 8:
9. A robot system comprising:
a robot including a robot arm, a motor configured to drive the robot arm, and a motor driver configured to receive electric power and output motive power to the motor based on a control signal; and
a robot control device configured to control an operation of the robot, the robot control device including:
a logical operation circuit configured to perform a logical operation about a stop signal and output an operation result; and
a power interruption circuit configured to interrupt, based on the operation result, the electric power supplied to the motor driver or the control signal input to the motor driver to thereby interrupt the motive power for the motor,

wherein the stop signal includes:
an emergency stop signal for stopping the operation of the robot;
a protection stop signal for stopping the operation of the robot when approach of an object to the robot is detected; and
an enable stop signal for stopping the operation of the robot, the enable stop signal is executed by an operation of a user when approach of the user to the robot is permitted, and

the logic operation circuit includes:
an OR operation circuit configured to calculate OR of the protection stop signal and the enable stop signal; and
an AND operation circuit configured to calculate AND of the emergency stop signal and the OR.