CLAMP CONTROL DEVICE, INDUSTRIAL MACHINE AND CONTROL METHOD OF CLAMP CONTROL DEVICE

摘要

PROBLEM TO BE SOLVED: To accurately determine the grip of a workpiece by a chuck, related to different kinds of the workpieces or the like.SOLUTION: A clamp control device 20 comprises: a motor control part 31 which oscillates a first chuck 4 via a shaft 3 by driving a motor 5; a control part 32 which calculates a specified drive force on the basis of a minimum drive force by which the first chuck 4 is oscillated; and a determination part 34 which determines that a workpiece is gripped by the first chuck 4 or a second chuck 13 in a case where it is detected that the oscillation of the first chuck 4 is suppressed when the first chuck 4 is oscillated by the oscillation of the motor 5 by the motor control part 31 at the specified drive force.SELECTED DRAWING: Figure 2