A robot controller includes an all-axes control part collectively calculating position command values for a plurality of axes based on a predetermined trajectory of the robot, and motor drive control parts for each axis. The motor drive control part includes a stopping position command calculation part which calculates a stopping position command value for each axis with a motor coordinate system as a reference. The motor drive control part switches the position command value transmitted from the all-axes control part to the stopping position command value for each axis when an emergency stop signal is inputted and, after that, returns from the stopping position command value for each axis to the position command value transmitted from the all-axes control part. The all-axes control part starts calculation for outputting an emergency stop position command value for stopping the robot on the predetermined trajectory when the emergency stop signal is inputted.

A robot control system includes a robot controller, a data transmission module, a servo drive module, a safety unit, a demonstrator, and a power module. The servo drive module is connected to the robot controller via the data transmission module and receives a movement instruction to drive a robot to move. The safety unit is connected to the robot controller and the servo drive module via the data transmission module and turns off, upon receiving an abnormal input signal or a failure signal, the servo drive module and transmits the abnormal input signal or the failure signal to the robot controller. The demonstrator receives a terminal video signal and a first control interaction signal from the robot controller, and sends a second control interaction signal to the robot controller to control operation of the robot controller. The power module is electrically connected to the robot controller and the safety unit.

The present invention provides a mechanism for causing a safety controller to suitably display various pieces of information from a safety input device. A safety controller acquires a compatible port that connects at least one safety input device, and a safety input signal from the at least one safety input device connected via the compatible port and state information on the safety input device. Further, the safety controller 3 includes the MCU 23 that generates, in accordance with the safety program, a safety output signal based on the safety input signal acquired, and the display device 5a that displays, based on the state information acquired, a state of the safety input device from which the state information is acquired.

A robot control system includes a control device for controlling a robot and a portable operating panel connected to the control device. The portable operating panel and at least one other device include contact points connected in series. The control device includes a reception circuit that can detect the opening of at least one of the contact points. The portable operating panel includes a smart device having a sensor. The contact point included in the portable operating panel is opened and closed in conjunction with a physical movement of a switch member attached to an exterior of the smart device. The sensor can detect a physical quantity that changes in conjunction with the physical movement of the switch member. The portable operating panel transmits, to the control device, a detection signal indicating the physical quantity detected by the sensor or information about the physical quantity.

Emergency stop pressure sensors 17 are installed on both side surfaces of a movable link 11 of a robot arm 14 of an assembly robot. When a worker S unintentionally walks in a swing range Ra of the robot arm 14 and contacts the emergency stop pressure sensor 17, a detection signal is transmitted to a control unit 19, and the control unit 19 shuts power transmission to a driving source swinging the robot arm. The emergency stop pressure sensor 17 has a first electrode and a second electrode constituting a pair of electrodes and an intermediate layer formed of rubber or a rubber composition, which is disposed between the pair of electrodes, the intermediate layer generating power upon deformation caused by contact with a contacted body (the worker). A side of the intermediate layer in a laminate direction undergoes surface modification treatment and/or inactivation treatment. With this treatment, the one side and the other side of the intermediate layer have different degrees of deformation to the same deformation adding force.

Safety systems and material testing systems including safety systems are disclosed. An example material testing system includes: an actuator configured to control an operator-accessible component of the material testing system; an actuator disabling circuit configured to disable the actuator; and one or more processors configured to: control the actuator based on a material testing process; monitor a plurality of inputs associated with operation of the material testing system; determine, based on the plurality of inputs and the material testing process, a state of the material testing system from a plurality of predetermined states, the predetermined states comprising one or more unrestricted states and one or more restricted states; and control the actuator disabling circuit based on the determined state.

A control device has first and second control units. The first unit includes a timing unit which measures elapsed time and instructs the start of a first safety signal circuit test based on the time, and a first circuit test control unit which, when a safety signal circuit output signal has been output to a first circuit, or output thereof has stopped, detects whether a safety signal circuit input signal is input, and executes the first safety signal circuit test. The second unit is provided with an implementation verifying unit which verifies whether the first safety signal circuit test is complete, and a second circuit test control unit which, after verification, when a safety signal circuit output signal is output to a second circuit, or when output thereof has stopped, detects whether a safety signal circuit input signal is input, and executes a second safety signal circuit test.

The invention relates to a mobile security basic control device (15) of a robot (1), comprising a hand-held housing (16), an emergency stop switching means (17) arranged at the housing (16), a communication device (18) for establishing a link in terms of control between the mobile security basic control device (15) and a robot controller (12) of the robot (1), and further comprising a holder (19) connected to the housing (16), which is designed to mount the mobile security basic control device (15) on a mobile terminal (20). Said mobile terminal has a terminal control system (21) and a multi-touchscreen (22), which is designed to transmit inputs to the terminal control system (21) via the multi-touchscreen (22). The mobile security basic control device (15) comprises a coding device (25) which, in a state where the mobile security basic control device (15) is mounted on the mobile terminal (20) by means of the holder (19), is designed to automatically transmit at least one identification code identifying the mobile security basic control device (15) to the terminal control system (21) via the multi-touchscreen (22).

A system includes a computer numerical control (CNC) machining system configured to perform a machining operation to define a feature on a workpiece and a machine edge controller disposed external of the machining system and in communication with the CNC machine system. The machine edge controller is configured to perform a machining evaluation during the machining operation. In executing the machining evaluation, the machine edge controller is configured to acquire data indicative of characteristics of the CNC machining system during the machining operation and compare the data with one or more machining baseline parameters associated with the machining operation to determine an abnormal operation of the CNC machining system. The one or more machining baseline parameters define a nominal response of the CNC machining system for performing the machining operation.

Safety systems and material testing systems including safety systems are disclosed. An example material testing system includes: at least one actuator configured to control one or more operator-accessible components of the material testing system; an actuator disabling circuit configured to disable the at least one actuator; and one or more processors configured to: control the at least one actuator based on a material testing process; monitor a plurality of inputs associated with operation of the material testing system; determine, based on the plurality of inputs and the material testing process, a state of the material testing system from a plurality of predetermined states, the predetermined states comprising one or more unrestricted states and one or more restricted states; and control the actuator disabling circuit based on the determined state.