ROBOT CONTROLLING DEVICE

摘要

It comprises a rotatable arm (15), a motor (11) for driving the arm (15), a position detector (12) for detecting the angular position of the motor (11) to generate a position detection signal, a stop (23) for controlling the rotation of the arm (15), a brake (13) for restraining and releasing the rotation of the motor (11), a servo control section (33) for driving the motor (11), and a cancellation operating switch (42) for disabling the servo control section (33) and releasing the brake (13), and a brake control section (37) for changing the time for restraining or releasing the brake (13) according to the angle between the stop (23) and the arm (15) by the actuation of the cancellation operating switch (42).