| 摘要 |
PURPOSE:To facilitate teaching and to speed up operation by employing closed- loop control between a control and a driving system, and performing acceleration/deceleration control over each articulation driving part through an independent circuit. CONSTITUTION:An order control part 51 indicates the next target point in taught order and an operation control part 52 stores the absolute number of pulses of each axis of the taught point. When the arm of a robot is moved to this target point, the difference in the absolute number of pulses between the target point and current point is calculated and outputted. Then, the number of pulses of the target point is regarded as the number of pulses of the current point. The number of pulses of each axis sent from the operation control part 52 is converted into electric power for rotation through a drive control part 53 and an exciting driver 54 to drive and control a stepping motor 55 for each axis. |
