| 摘要 |
PURPOSE:To make it possible to perform accurate position control by a milli- meter unit by setting a pitch (p)mm of a toothed belt X the number of a drive pulley (n)/an objective minimum travel amount (s)mm so as to become a nearly integral number in a device converting a motor revolution to linear motion by a milli-meter unit by the use of a tooth belt pitched in inch and by detecting the rotational position of a motor by a position detecting means outputting pulses of (p)X(n)/(s) per one revolution. CONSTITUTION:In an industrial robot, when (p)mm is taken as pitch of a toothed belt 18 for driving a slider 20, (n) is taken as the number of teeth of a drive pulley, and (s)mm is taken as an objective minimum travel amount, each of them is set so that the result of (p)X(n)/(s) may become a nearly integral number. And the rotational position of a motor 24 for driving a drive pulley 14 is detected by a rotary encoder 26 for outputting same number of pulses as (p)X(n)/(s) per one revolution. And the servo motor 24 is controlled on the basis of the difference between the output pulse (b) and commanded travel quantity through a counter 28, D/A 30, and a driver 32. The linear position control by the milli-meter unit can thus become possible by using the toothed belt pitched in inch.
|
