| 摘要 |
PURPOSE:To make a safe and smooth motion possible by setting two limit points, where a stop command and a decelerating command are given respectively, in a maximum operating range. CONSTITUTION:Current positions of moving arms 1a and 1b are operated in a controller at intervals of a minute time by a current positioln operating part 5, and results are transferred to a comparing part 9 and a moving command operating part 7. The operating part 7 calculates extents of the next movement on a basis of data of the operating part and data from a movement objective position storage part 8 and outputs them to gates (c) and (d). Simultaneously, data from a limit position storage part 6 of an operating range 4 is compared with data of the operating part 5 to discriminate whether current positions of arms 1a and 1b are within the range 4 or at limit points. In accordance with this discrimination result, one gate is opened and the other is closed, and deceleration is operated in a deceleration operating part 11 to start deceleration, and arms are stopped quickly without getting out of the operating range when they reach stop points 2a. |
