| 摘要 |
PURPOSE: To operate a robot at a constant speed regardless of variation in the temperature of lubricant in a reduction gear by driving a drive means based on a control current outputted based on a current control limit value and a rotational speed command value. CONSTITUTION: A position controller 15 delivers a rotational speed command value of a motor 7 to a speed controller 14 based on the difference Es between a position command and the positional information of rotation of the motor 7. The speed controller 14 delivers a current command value to a current command limiter 15 based on the difference between the rotational speed command value and rotational speed information calculated at a speed operating section 20 from the positional information detected by the encoder 8. On the other hand, the motor temperature detected through a motor temperature sensor 17 is fed through an A/D converter 18 to a current command limiter determining section 91 where a current limiter coefficient is determined from a digitized motor temperature and delivered to the current command limiter 16. This constitution realizes constant speed operation of a robot regardless of variation in the temperature of lubricant in a reduction gear. |
