| 摘要 |
PROBLEM TO BE SOLVED: To provide a damping control method for a small and inexpensive transfer device in which a cycle time is reduced by suppressing vibration at the tip of a loading device in the transfer device which is composed of a portal fixed part provided with legs and a beam, a traveling rail arranged to the fixed part, and the loading device fixed to a traveling part moving on the traveling rail. SOLUTION: A damping control program is incorporated into a controller. The damping control program stores an operating condition data table. The traveling part and the loader part are driven by reading out an operating condition coefficient with two factors of an arm length and a mass of a workpiece in the operating condition data table. COPYRIGHT: (C)2006,JPO&NCIPI
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