| 摘要 |
PURPOSE:To attain stable arm position control without any compensating circuit at opeation by detecting a drive amount and an arm moving amount of a drive source at the front and rear stage of a transmission mechanism and controlling its deviation to zero so as to attain arm operation at teaching without using a clutch mechanism. CONSTITUTION:A motor 3 is stopped at teaching and when an arm 1 is energized clockwise, a transmission shaft is driven at an output of a gear reducer 5, and a pulse signal is outputted from a position detector 16 but no output is given from a position detector 15. A circuit 18 detects the deviation of the moving amount from an output signal of the detectors 15, 16, an analog signal corresponding to a deviation is fed to an amplifier 19 and the motor 3 is driven clockwise. On the other hand, a switch SW2 is turned off at running and the motor 3 is driven in a speed based on a speed command signal of a controller 10. Further, the switch SW1 is thrown to the position of output (a), an output signal of the detector 15 is fed to a device 10, the position control of the arm 1 is executed, no effect of the gear reducer is given to the detector 15, then stable control is attained and no compensating circuit is required. |
