CONTROLLER FOR INDUSTRIAL ROBOT OR THE LIKE

摘要

PURPOSE:To control even robot arms which differ in encoder output by providing a switch circuit which switches transmission systems to the feedback circuit of a rotary encoder. CONSTITUTION:A pulse outputted from the rotary encoder 7 reaches a line receiver 10 through the switch circuit 9 which is placed at the side for an open collector. Then, this pulse is inputted to an (n)-fold multiplier 12 which normally a 4-fold pulse through an output polarity inversion switch circuit 11 which switch between 1 and 0 as significance. One n-fold pulse is inputted to an F/V converter 13 to output a speed component to a driving amplifier 5. Then, the component is converted into parallel data for sending rotation position data on the rotary encoder 7 to a CPU3.