A safety module for a secured drive control of an automated drive system is configured to receive encoder data sent from an encoder unit to a drive unit, based on an encoder protocol via a protocol active unit. The safety module is configured to forward the encoder data from the protocol active unit to a safety logic and a protocol passive unit, check the forwarded encoder data with the aid of the safety logic for correspondence with predetermined safety criteria relating to operation of a motor unit, and transmit the forwarded encoder data via the protocol passive unit to the drive unit, in respective data packets based on the encoder protocol. The safety module can stop operation of the motor unit with the aid of the safety logic, if the encoder data does not correspond to the predetermined safety criteria. A corresponding drive system and automation system are also provided.

The invention relates to a demolition robot (1), comprising a cable (12) intended to be connected to an electric network to power a motor (21), a pump (22) that is powered by the electric motor for generating a hydraulic flow to consumers (13), wherein the motor (21) is activable at varying thermal load values (PT), depending on the current consumer's (13) need for hydraulic power, a control unit (24) arranged to receive information about the thermal load (PT) on the motor, to determine a partial thermal damage value (SL, SM, SH) at various thermal loads (PT) on the motor. To minimize the risk of thermal damage to the motor, the control unit (24) is adapted to compare said partial thermal damage values (SL, SM, SH) with a normative partial thermal damage (A) and is adapted to limit the thermal load (PT) on the motor (21) to a maximum allowable thermal load value (PTmax), if the partial thermal damage value (SL, SM, SH) exceeds the normative partial thermal damage (A) at a predetermined value (A′).

An example method includes determining one or more first movements that begin with a robot at a first position, determining one or more second movements that begin with the robot at the first position and end with the robot standing at a second position, making a first prediction of whether one or more motors of the robot executing the one or more first movements would cause a future temperature of any of the one or more motors to exceed a threshold temperature, making a second prediction of whether the one or more motors executing the one or more second movements would cause a future temperature of any of the one or more motors to exceed the threshold temperature, and causing the one or more motors to execute either (i) the one or more first movements or (ii) the one or more second movements.

A numerical controller acquires state information (machine condition) such as the current temperature of a drive unit to determine whether a machining operation based on a machining program can be started or not by comparing the state information with a machine condition history recorded in a recording unit. If determined that the machining operation can be started, a machining operation start command is output and if determined that the machining operation cannot be started, the machine condition is monitored to withhold outputting of the machining operation start command until the machine condition allowing to start the machining operation based on the machining program appears.

A numerical control device with a function to prevent a problem caused by a rapid stop of a processing operation due to a motor overheating during processing. A temperature comparator obtains a load ratio T/Tmax or Tw/Tmax which is a ratio of the motor temperature T or predicted temperature Tw to a maximum allowable temperature Tmax stored in a storage device. When the load ratio T/Tmax or Tw/Tmax is over a threshold Tp stored in a storage, the device is placed in an alarm mode to shutdown the power supply to the motor after the processing program is executed to the end of a sequence block or the end of the processing program.

A numerical controller estimates a machining continuable time before a currently controlled motor overheats if an output of the motor exceeds a continuous rated output and predicts respective execution times of command blocks and the machining continuable time for each command block, for a currently running block and its subsequent command blocks. Based on these predicted data, the numerical controller identifies a command block (alarm generation block) in which the motor overheats and a command block (stop block) in which driving control can be safely stopped, within the range of command blocks from the currently running command block to the alarm generation block.

The present invention provides a control device for a mobile robot. While a mobile robot 1 is in a predetermined motion state, if a load evaluation amount, which is either the magnitude of a load detected on a particular joint or an estimated temperature value of a joint actuator for driving the joint, exceeds a predetermined threshold value, then a desired displacement amount of each joint of the mobile robot 1 is determined with a requirement that the load evaluation amount remains to be the threshold value or less, and the joint actuator is controlled on the basis of the determined desired displacement amount.

The invention relates to a demolition robot (1), comprising a cable (12) intended to be connected to an electric network to power a motor (21), a pump (22) that is powered by the electric motor for generating a hydraulic flow to consumers (13), wherein the motor (21) is activable at varying thermal load values (PT), depending on the current consumer's (13) need for hydraulic power, a control unit (24) arranged to receive information about the thermal load (PT) on the motor, to determine a partial thermal damage value (SL, SM, SH) at various thermal loads (PT) on the motor. To minimize the risk of thermal damage to the motor, the control unit (24) is adapted to compare said partial thermal damage values (SL, SM, SH) with a normative partial thermal damage (A) and is adapted to limit the thermal load (PT) on the motor (21) to a maximum allowable thermal load value (PTmax), if the partial thermal damage value (SL, SM, SH) exceeds the normative partial thermal damage (A) at a predetermined value (A).