| 摘要 |
<p>PROBLEM TO BE SOLVED: To eliminate the need for the operation to reset servo guns to their origin at the time of selective use of these guns. SOLUTION: One unit G1 (or G2 to G4) among plural units of the servo guns G1 to G4 is mounted at a robot 1 and a connector CN1 (or CN2 to CN4) is connected to the connector CN10 on the controller 10 side. The respective gun shafts are driven by servo motors M1 to M4 with batteryless absolute pulse coders utilizing magnetic bubble elements. The controller 10 has a main CPU board 11, an amplifier 12 for a robot shaft and an amplifier 13 for the servo guns. The supply current to the gun G1 during use is controlled by the movement command of the gun shafts formed according to operation program data, etc., and the current commands formed at prescribed periods in accordance with the feedback signal obtd. from the batteryless absolute pulse coders. The positions of the gun shafts including the movement of the gun shafts not in use are detected and held when the gun G1 is used after the selective use of the other guns G2 to G4 and, therefore, the operation to reset the gun to their origin is eliminated.</p> |
