| 摘要 |
PROBLEM TO BE SOLVED: To prevent generation of vibration to a gun arm in the collision in one sequential action that the gun arm is displaced in a direction for approaching a work and is stopped after the collision to the work so as to press the work. SOLUTION: When first and second gun arms 12, 14 are approaching to works W1, W2, a current value I to be supplied to a motor 20 which drives the first and second gun arms 12, 14 is obtained based on the deviation between the setting rotational velocity V0 and the actual rotational velocity V of the motor 20. When the first and second gun arms 12, 14 are collided to the works W1, W2, the current value I is obtained based on the formula I=(1-V/V0)×Ic from the setting rotational velocity V0 and the actual rotational velocity V of the motor 20 and the setting limit value Ic to set an upper limit value of the current value I to be supplied to the motor 20.
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