| 摘要 |
PURPOSE:To control direction of moving of an indexing shaft easily and at high accuracy, by detecting position of a shaft that moves in relation to a robot by working information and comparing the output signal with the output signal of a register that stores the signal during intermediate moving period. CONSTITUTION:When a comparator 4 operates and the indexing shaft of a jig 19 is positioned at an advance end switch 9 while an advance switch 1 is made on, a valve 6 is made off. In other cases, it is made on and an actuator 8 advances. In case of retrogression switch 2, the actuator retrocedes. The indexing shaft moves to one of positions of advance end, intermediate, and retrogression end switches 9, 10, 11 and stores information in a register 12. A counter 16 sets positional information through an MPU18, and designates an address to a memory 13. A teaching switch 3 is made on and writes the contents of the register 12 in the designated address of the memory 13. Thus, positional information of the indexing shaft is set, and the indexing shaft is advanced or retroceded. |
