| 摘要 |
PURPOSE:To switch speed control steplessly to load control only by one command signal by separating a position control loop from a speed control loop in prior to a command signal of a current control loop. CONSTITUTION:A control device of an industrial robot is constituted of a control part 20 for controlling a motor 100, a position comparing part 21 for finding out the difference between a position command signal P and a position feedback signal Pf obtained from a position sensor 13 through a position counter 30, a speed comparing part 22, a change-over switch 31 for separating the speed control loop from the position control loop, a current comparing part 23, a PWM modulating circuit 25, etc. The position of the robot is counted up by the counter 30, and when the counted value reaches a fixed value, the contact of the leading end part of the robot with a substance to be positioned is detected and the positional shift of the substance to be positioned is detected on the basis of the operation of the fixed counted value and the value of a teaching point. The detected value is corrected by the operation of the teaching point and the size can be also measured. |
