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A voltage detection value from this voltage detection circuit 18 is supplied to the voltage detection input terminal of the microcomputer 10.
来自电压检测电路18的电压检测值提供到微机10的电压检测输入端。
The temperature sensor 19 is disposed in the vicinity of or in contact with the battery cell 20, and a temperature detection value of this temperature sensor 19 is supplied to the temperature detection input terminal of the microcomputer 10.
In the servo amplifier 42, the current detecting unit 67 detects the motor current i supplied to the electric servomotor 21, and outputs the detection value as a motor current detection signal ir.
Accordingly, the microcomputer 10 is able to learn the terminal voltage across the battery cell 20 based on the voltage detection value supplied to this voltage detection input terminal from the voltage detection circuit 18.
thereafter resumes rotation of the motor when a detection value by the pressure difference sensor has become higher than or equal to a second pressure that is a pressure at a time when coolant liquid is stored up to the second height.
When an area exhibiting an extremely low reflectance to the measuring laser light exists in a part of the laser light irradiation surface, however, an error may occur in the detection value in this area, whereby the converging point of the processing laser light may fail to accurately follow the laser light irradiation surface in such a laser processing method.
If, however, the motor torque. tau... sub.M equals or exceeds the torque failure detection value, processing goes to step 115 to stop the first and second inverters.
但若马达力矩tM等于或大于力矩故障检测值,过程进行到步骤115以停止第一和第二反向变换器。
Thereafter, the external apparatus causes a RAM of the microcomputer 31 to store the detection value so as to be associated with each of the load sensor sections 12 (step 3).
而且,使用上述外部机器,将该检测值与各负荷传感器部12相对应,存储于微机31的RAM(步骤3)
If the motor torque. tau... sub.M is less than the torque failure detection value, step 112 and the following steps are processed as in FIG. 8.
若马达力矩tM小于力矩故障检测值,步骤112及以后各步骤的处理同图8。
In FIG. 18, by the position reference input from the upper controller (not shown) and a position detector 128 provided in each of the joint portions of the robot, the torque reference (generation torque) of the motor in the compliance control system 20 is computed based on the position detection value and the speed detection value 11 via the differentiator 115.
Further, the microcomputer 50 monitors the detection value of the angle sensor 44 and controls electromagnetic valve system 25 to stop the inclining movement of the mast 4 when the detection value coincides with the forward inclination limit angle Alim.
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