A machine tool controller includes: a voltage detection unit which detects a voltage value of an input power supply; a time measurement unit which measures an occurrence time and a duration time when a voltage drop state occurs with respect to the voltage value; an abnormality determination unit which determines whether a low voltage abnormality or a power failure occurs with respect to the input power supply based on the voltage value and the duration time of the voltage drop state; a machining management unit which acquires a machining condition command and machining information of the machine tool; and a storage unit which stores the voltage value detected by the voltage detection unit, the occurrence time of the voltage drop state measured by the time measurement unit, and the machining information when the abnormality determination unit determines that the low voltage abnormality occurs with respect to the input power supply.

A robot having actuator-driven elements, actuators to drive the elements, and brakes to decelerate the elements, the robot requiring voltage U.sub.B and/or current I.sub.B, the robot including: a source having an input to which voltage U.sub.P and current I.sub.P are applied, wherein, during normal operation, U.sub.P is equal to voltage U.sub.P,desired and I.sub.P is equal to current I.sub.P,desired, and having an output to which voltage U.sub.actual and current I.sub.actual are supplied, wherein during normal operation: U.sub.actual=U.sub.B and I.sub.actual=I.sub.B, an energy store integrated into the source for maintaining U.sub.B and I.sub.B for time Δt following failure or drop in U.sub.P and/or I.sub.P, a unit for monitoring U.sub.P, wherein as soon as U.sub.P deviates by amount ΔU from U.sub.P,desired, a signal is generated, and a control unit connected to the unit for controlling the robot and its elements into a predefined safe state upon receipt of the signal.

A robot control device configured to control a robot includes a first memory part configured to store work data, a second memory part configured to store restoring data, a calculating part configured to perform an operation instructing process configured to read the work data and generate an operating instruction to the robot, and a data evacuation process configured to determine whether the operation instructing process operates normally, and when the calculating part determines that the operation instructing process does not operate normally, coincide the restoring data with the work data, and an operation controlling part configured to control operation of the robot based on the operating instruction.

A robot control device configured to control a robot includes a first memory part configured to store work data, a second memory part configured to store restoring data, a calculating part configured to perform an operation instructing process configured to read the work data and generate an operating instruction to the robot, and a data evacuation process configured to determine whether the operation instructing process operates normally, and when the calculating part determines that the operation instructing process does not operate normally, coincide the restoring data with the work data, and an operation controlling part configured to control operation of the robot based on the operating instruction.

A machine tool controller includes: a voltage detection unit which detects a voltage value of an input power supply; a time measurement unit which measures an occurrence time and a duration time when a voltage drop state occurs with respect to the voltage value; an abnormality determination unit which determines whether a low voltage abnormality or a power failure occurs with respect to the input power supply based on the voltage value and the duration time of the voltage drop state; a machining management unit which acquires a machining condition command and machining information of the machine tool; and a storage unit which stores the voltage value detected by the voltage detection unit, the occurrence time of the voltage drop state measured by the time measurement unit, and the machining information when the abnormality determination unit determines that the low voltage abnormality occurs with respect to the input power supply.

The invention relates to a robot having actuator-driven elements, which requires a desired operating voltage U.sub.B and/or a desired operating current I.sub.B in order to operate, comprising: a voltage and current source having an input interface, to which a primary voltage U.sub.P and a primary current I.sub.P are applied, wherein, during normal operation, the primary voltage U.sub.P is equal to a desired primary voltage U.sub.P,desired and the primary current I.sub.P is equal to a desired primary current I.sub.P,desired, and also having an output interface, to which an actual voltage U.sub.actual and an actual current I.sub.actual are supplied, wherein during normal operation: U.sub.actual=U.sub.B and I.sub.actual=I.sub.B, an energy store, which is integrated into the voltage and current source and which maintains the operating voltage U.sub.B and the operating current I.sub.B for a predefined period of time t following a failure or a drop in the primary voltage/primary current, a unit for monitoring the primary voltage U.sub.P applied to the input interface, wherein the unit is configured such that as soon as the applied primary voltage U.sub.P deviates by a predefined amount U from the desired primary voltage U.sub.P,desired, a stop signal is generated, and a control unit, which is connected to the unit and which is designed for controlling the robot and its actuator-driven elements, wherein the control unit is configured to control the robot with its elements into a predefined safe state upon receipt of the stop signal.