| 摘要 |
PROBLEM TO BE SOLVED: To avoid abnormal approach of plural moving parts in a controlling mechanism. SOLUTION: The servo-controlling system is composed of servomotors 420, 430 driving holding hands 3, 5 and servo-controlling devices 50, 60 giving the servomotors 420, 430 their positioning value and generating their in-positioning signals responding to the positioning value with specified limits. It is equipped with a position calculating method demanding position of the holding hands 3, 5, a sensor 20 detecting if or not the position of the holding hands 3, 5 is within the specific limit, an in-positioning signal modification means narrowing the specified limit responding to operation of the sensor 20, an attainability judging mean judging whether or not the calculated value of the in-position signal is within the limit, and a position instruction generating means generating next positioning instruction responding to the attainability signal by the judging means.
|
