| 摘要 |
PURPOSE:To improve positioning accuracy by providing the titled device with a clock signal counter, a gate circuit, a synchronizing circuit, and a deviation counter so that positional shift is compensated by hardware. CONSTITUTION:A latch circuit 4 latches moving command data DT outputted from a CPU in a computer and a binary rate multiplier 5 inputs the latched data DT. The multiplier 5 outputs a pulse train signal S2 moving a robot at a prescribed speed on the basis of the data DT and the synchronizing circuit 6 converts the pulse train signal S2 into a signal S4 synchronized with a clock signal S3. Compensation data Dc are inputted to a counter 10 to count down the inversion signal S5 of the clock signal. The output of the counter 10 is inputted to OR circuits 8, 9 through gates 7, 12, 13, which output signals S7, S8 to a samling circuit 14 as shown in the figures to form signals S7', S8'. A deviation counter 15 forms a signal S9 corresponding to the counted contents of the signals S7', S8' in accordance with the output pulses of an encoder 17 through a direction discriminator 16 and a robot actuator 20 is driven through a D/A converter 18 and a servo amplifier 19. |
