| 摘要 |
<p>An object of the present invention is to provide a method of teaching a position, in which greater loads are not applied to a work piece (37), a machining tool (11), etc.. The method is characterized by the steps of: driving the motors (20, 27, 34) with detecting exciting currents so as to move the work piece (37) from a position short of an object position to the object position; making the work piece (37) contact with the machining tool (11) corresponding to the object position; temporally turning off the exciting currents of the all motors (20, 27, 34) if at least one of the exciting currents is greater than a predetermined value; and storing a position of the work piece (37) as the object position if counter forces, which work from the machining tool (11) to the arms (16, 26) and the motors (20, 27, 34), and frictional forces, which are generated in the arms (16, 26) and the motors (20, 27, 34), are balanced when the exciting currents are turned off and the work piece (37) is made contact with the machining tool (11). <IMAGE></p> |
