| 摘要 |
PROBLEM TO BE SOLVED: To suppress erroneous setting of a movable range area of a physical stopper for a movable control range area on the software control, and to reliably set a plurality of movable control range areas within the predetermined movable range of an arm. SOLUTION: When a user sets any one of a plurality of movable control range areas, a control unit 9 obtains two physical stopper mid-angle values Kc [deg] set in the movable range area corresponding to the movable control range area. When the angle value at the present position of the physical stopper is expressed by X[deg], and the moving angle of an arm is expressed Q[deg], respectively. Q is obtained from the formula Q=Kc-X. When Q>0, the arm is turned in the other rotational direction by the angle of Q. When Q<0, the arm is turned in one rotational direction by the angle of Q. Thus, the stopper position is suggested. COPYRIGHT: (C)2010,JPO&INPIT
|
