| 摘要 |
<p>The rotation stop position of a nozzle holder (12) is measured when aθ-axis driving mechanism (20) is rotated in a normal rotation direction by a predetermined angle so as to exceed backlash in the normal rotation direction while an R-axis driving mechanism (15) is stopped. A backlash correction value for normal rotation is set on the basis of the measured value. Further, the rotation stop position of a nozzle holder (12) is measured when theθ-axis driving mechanism (20) is rotated in a reverse rotation direction by a predetermined angle so as to exceed backlash in the reverse rotation direction while the R-axis driving mechanism (15) is stopped. A backlash correction value for reverse rotation is set on the basis of the measured value. A backlash correction value for normal rotation and a backlash correction value for reverse rotation are selectively used in accordance with the backlash correction direction of the rotation stop position for the nozzle holder (12). Thereby, the displacement of the rotation stop position for the nozzle holder (12) due to backlash can be accurately corrected.</p> |
