| 摘要 |
PURPOSE:To shorten the operating time of positioning by a method wherein an acceleration slope upon ascending an arm, a deceleration slope upon ascending the warm, an acceleration slope upon descending the arm and a deceleration slope upon descending the arm are set individually. CONSTITUTION:In an accelerating area upon ascending an arm, the arm is ascended against a gravity and the power of a servomotor is requested in maximal. Accordingly, a rather long slope time data is set from an indicating box 3 into a memory 10 for setting an acceleration slope time upon ascending the arm. In a decelerating area upon ascending the arm, the power of the servomotor 2 is not requested so much since a gravity effect accompanies with braking and, therefore, a short slope time data is set from the indicating box 3 into the memory 11 for setting a decelerating slope time upon ascending the arm. |
