| 摘要 |
PURPOSE:To perform proper auxiliary opeation without requiring any high-precision device by carrying out the auxiliary operation while the servo system of a robot is turned off. CONSTITUTION:A central processing unit CPU1 outputs a command signal S1 and its deviation from the output signal S2 of a pulse encoder 3 associated with a servomotor 2 is obtained from a subtraction point 4. This deviation signal is inputted to a servoamplifier through a D/A converter 5 to shift the robot in position. Said pulse signal S2 is inputted to a counter 7 to detect the current position of the robot all the time. A switch element 8 is interposed between said servoamplifier 6 and motor 2 and this element 8 is turned off to turn off the servocontrol of this servo system. Consequently, when incidental operation is performed by putting an incidental operating device 9 in operation, a CPU1 opens said switch element 8 to turn off the servo system, allowing the shaft of the robot to move freely. |
