| 摘要 |
PURPOSE:To instantaneously detect the accurate position of an industrial robot by attaching an absolute encoder low in resolution to the output shaft of a reduction gear, and also an increment encoder to a motor. CONSTITUTION:When a power supply is turned on to a controller 13, the absolute encoders 4 and 9 supply the positions of arms 5 and 10 to the controller 13 via an input cable 11. In such a case, however, only a rough position of a robot is known since both encoders 4 and 9 are low in resolution. Therefore, the motors 1 and 6 are driven at the points near their present positions. Thus the incremental encoders 2 and 7 attached to the motors 1 and 6 search the positions where the C phases are outputted. An accurate position of the robot can be detected at a time point when said C phase is outputted.
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