| 摘要 |
<p>A conveyor system comprises a control device for controlling the rotation of the support and wrist shafts of a robot that conveys goods and controlling the endless rotation of a conveyer drive shaft. The conveyor system comprises a rotating shaft (6), a drive (7) for rotating the shaft, an encoder for detecting the rotation of the shaft, a servocontrol device (22) for controlling the drive (7) based on a program command, main control means (10) for controlling rotation, and a rotation control device (12) for controlling the endless rotation. Program commands are generated based on reference encoder values, and position control is performed. An encoder value corresponding to the amount of displacement is added or subtracted in response to commands from command means, and the reference encoder value is changed and stored. Thus, the control of endless rotation is achieved at any gear ratio while maintaining any range of operation.</p> |
