| 摘要 |
PURPOSE: To reduce a tact time by calculating the deviation of the tip of a robot based on the position of each joint and providing the output of a positioning confirmation signal when the calculated deviation is smaller than a prescribed value. CONSTITUTION: A robot has a 1st arm 1, a 2nd arm 2 and a robot tip 3. A command sent by a CPU is sent to a servo system interface section via a communication bus in the inside of a robot controller 4. Then internal variables are initialized by initial setting and orbit calculation and the output of operation command are conducted. Then a deviationΔr at the robot tip 3 is calculated based on the deviation of motor shafts of the 1st arm 1 and the 2nd arm 2 through coordinate conversion and when the absolute value of theΔr is smaller than a prescribed setting value, a positioning confirmation signal is outputted. The software processing is reduced by allowing an orbit arithmetic processing section to receive the positioning confirmation signal.
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