| 摘要 |
PURPOSE:To enalble an operator to take a proper measure by setting an unstable area of backlash of a joint type robot and alarming the unstable area. CONSTITUTION:A numeral control (NC) system using a backlash compensating method is constituted of a processor 30 to which memories 31, 32, etc. are connected, the joint tupe robot 39, a welding machine 40 to be a working object, etc. In the backlash compensation, a backlash unstable area is set up by storing the neutral position information and its front and back information in the memory 32 and inputting the leading position information of a W axis and a robot arm which are obtained from a servo circuit 38 to a backlash-unstable area setting circuit 45. When the leading position information of the W axis and the arm reaches the backlash-unstable area, the status is alarmed on the screen of a CRT display device 35. When the moving direction of the theta axis of the robot arm is changed, information is obtained from the servo circuit 38 and inputted to a backlash compensating port 44. |
