| 摘要 |
PURPOSE:To position an origin easily and automatically by operating the axis of a robot and combining the Z signal from an increment type encoder and the output signal from an external switching means. CONSTITUTION:An electric power source is turned on and the central axis 3 of a robot is driven in the direction where the numerical value of a pulse counter counting the Z signal outputted by an increment type encoder decreases in accordance with the turning of a turntable. When an origin limit switch LS goes on and further the switch LS changes over to off, the axis 3 is stopped once. Thereafter the axis is driven in the direction where the count value increases. The pulse counter is cleared by the logical product of the on output of the switch LS and the Z signal, by which the axis of the robot is brought to the absolute origin position. Therefore the origin of the axis of the robot is positioned easily and automatically. |
