| 摘要 |
PURPOSE:To perform origin positioning with high precision and high reliability by comparing previously stored origin positioning information from a detector with origin positioning information obtained at another point of time. CONSTITUTION:A robot body 1 consists of a motor 4, driving shaft 6 such as a rod arm driven by the motor through a speed reducer, etc., and a controller 2 for them consists of a microprocessor 10 which controls the whole, ROM11 stored with a program, nonvolatile memory 13 stored with origin positioning information and teaching data, servoamplifier 18 for driving the motor 4, etc. When it is decided whether origin positioning is done normally or not, current origin positioning information is stored in an information area in the memory 13, and the microprocessor 10 compares the contents of both new and old origin positioning information areas, shaft by shaft, to check whether the difference is within a specified error range or not. The current information is used as reference data for the subsequent success/failure decision on origin positioning. |
