| 摘要 |
PURPOSE:To improve accuracy at the time of returning to a starting point by transmitting a command pulse to a driving system deciding the rotational frequency of a motor through a gate to be closed by applying a starting point pulse obtained by dividing a feedback pulse initialized by a program. CONSTITUTION:A CPU 1 applies data X indicating an extent of movement to a pulse distributor 2 to carry out positioning. The distributor 2 supplies a command pulse CP to a deviation counter 3 through an AND gate 8 and an output of the counter 3 is converted by a D/A converter 4 to drive a motor 5. When a robot is moved close to the starting point, a mechanical limit switch is depressed, a starting point detecting signal LS is turned to ''H'' and the CPU 1 controls so as to reduce the moving speed, so that an FF 9 is initialized by the CPU 1 at the rise of the signal LS and set up by the original starting point pulse BP to close the gate 8. Consequently the pulse CP is stopped being supplied and the coasting distance of the robot can be fixed. |
