| 摘要 |
PURPOSE:To smoothly and speedily operate an arm by storing current value data corresponding to a load previously at the time of the stop of an arm, and comparing it with an actual detected current value and determining a speed pattern. CONSTITUTION:This controller consists of a speed detecting means 2 and a current detecting means for a DC servomotor 1, a speed command means 4, a speed operational amplifying means 5, a current operational amplifying means 6, and a pulse width modulation control means 7 for the motor 1, and the arm 10 of a robot is driven. In this case, a storage means 8 and a current comparative arithmetic means 9 are provided. Then a current value detected by the current detecting means 3 is detected when the arm 10 is stationary and compared by the current comparative arithmetic means 9 with current data DELTAi stored previously in the storage means 8. Consequently, when detection data is smaller than the set value DELTAi, the speed command means 4 outputs a speed command with a 1st previously set operation pattern. Further, when larger, the speed command is sent out with a 2nd operation speed pattern.
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