| 摘要 |
PURPOSE:To suppress the drift due to the change of temperatures, etc., and to ensure the correct control of a robot by obtaining programmably and periodically the compensation value to the influence of the drift caused by the environmental conditions like the temperature change, etc., by an instruction and synchronously with the work of the robot and adding the obtained compensation value to the stay pulses of a deviation counter. CONSTITUTION:The compensation value epsilonCOMP is added to the stay pulses epsilonof a deviation counter 4 so that the input epsilonDA to be given to a D/A converter 7 is changed for compensation of the drift. In other words, a command pulse gamma=0 is also supplied when a robot and a robot control device are set up so that the compensation value epsilonCOMP-init is obtained when a motor is stabilized together with a stay pulse epsiloninit of the counter 4 respectively. For the compensation value epsilonCOMP, 0 and epsilonCOMP-init are applied as a command pulse and the compensation value respectively by instructions. Then the stay pulse epsilon of the counter 4 can be read as the value added with epsilonCOMP-init-epsiloninit.
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