CONTROLLER FOR WORK POSITIONING DEVICE, AND ITS PROGRAM

摘要

PROBLEM TO BE SOLVED: To provide the controller of a work positioning device for preventing a workpiece fixed to a workpiece positioning device from colliding with an obstacle. SOLUTION: The controller 1 is provided with: an operation limit line storage means 26 for storing position coordinates of an operation limit line designated in front of an obstacle with respect to a workpiece; a deceleration section storage means 27 for storing the section width of a deceleration section with a deceleration start position decided in front of the operation limit line and the operation limit line as both ends; a check point storage means 25 for storing the position coordinates of a check point set for the workpiece; a check point updating means 70 for updating the position coordinates by calculating the position coordinates of the check point moved according to the operation of a positioner; a deceleration section entry deciding means 103 for deciding whether or not the check point has entered the deceleration section on the basis of the position coordinates of the check point; and a positioner control means 30 for commanding deceleration to a positioner motor MPwhen it is decided that the check point has entered the deceleration section. COPYRIGHT: (C)2009,JPO&INPIT