| 摘要 |
PURPOSE:To make it possible to perform highly efficient, highly accurate original point returning of the titled device, by monitoring the moving distance of an object to be controlled at each stage of the original point returning, and adequately performing error processing when the moving distance exceeds an allowance. CONSTITUTION:When the original point returning operation is started at a time point S under the state a limit switch 10 is defective and an original point limit switch signal LS is at a logic 1, a microcomputer 1 checks the logic level of the signal LS. Since the signal LS is still at the logic 1, the microcomputer 1 clears a counter 13, then immediately moves a robot 2 to the direction of the original point at a creep speed. When the robot is started, the microcomputer 1 continues to output moving command data D at the creep speed, alternately monitors the counted value (moving distance) of the counter 13 and the signal LS, and checks the operation error of the switch 10. The microcomputer 1 compares the counted value of the counter 13 with the preset allowance. When the counted value of the counter 13 exceeds the allowance until the signal LS becomes the logic 0, jumping is performed to an error processing routine. Conversely, when the signal LS becomes the logic 0 until the counted value of the counter 13 exceeds the allowance, the process is proceeded to the next step. |
