US 12,447,634 B2
Control method for control device controlling robot arm, non-transitory computer-readable storage medium storing computer program, and control device
Takema Yamazaki, Fujimi (JP)
Assigned to SEIKO EPSON CORPORATION, (JP)
Filed by SEIKO EPSON CORPORATION, Tokyo (JP)
Filed on Dec. 15, 2022, as Appl. No. 18/081,840.
Claims priority of application No. 2021-204004 (JP), filed on Dec. 16, 2021.
Prior Publication US 2023/0191631 A1, Jun. 22, 2023
Int. Cl. H02P 21/22 (2016.01); B25J 19/00 (2006.01); B25J 19/02 (2006.01); H02P 5/46 (2006.01)
CPC B25J 19/0025 (2013.01) [B25J 19/0054 (2013.01); B25J 19/027 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A control method for a control device controlling a robot arm of a robot for causing a processor to execute a process, the control method comprising executing on the processor the steps of:
performing an overexcitation operation with respect to an electromagnetic brake of a motor by applying a first motor power to the motor, the electromagnetic brake being in a break release state by the overexcitation operation such that the motor is ready to drive the robot arm;
controlling a fan configured to cool the control device in such a way that a power consumption of the fan becomes a first power consumption during a period of the overexcitation operation;
performing an excitation operation with respect to the electromagnetic brake of the motor by applying a second motor power to the motor, the motor driving the robot arm with the applied second motor power while the electromagnetic brake maintains the break release state, the first motor power being higher than the second motor power;
controlling the fan in such a way that the power consumption of the fan becomes a second power consumption during a period of the excitation operation, the first power consumption being lower than the second power consumption; and
performing a non-excitation operation with respect to the electromagnetic brake of the motor by applying no motor power to the motor, the electromagnetic brake being in a break active state by the non-excitation operation such that the motor is braked by the electromagnetic brake.