| 摘要 |
PURPOSE:To realize the optional limiting for the working range of an industrial robot of the teaching playback system having a position detector, by teaching the working range. CONSTITUTION:Both the upper and lower limit values are previously defined to an RAM for the working range of an industrial robot. A CPU5 gives a command to a servo valve 9a via a reference voltage generator, a polarity switch 6, a D/A converter 7 and various types of amplifiers 8 and based on the control information and the position information which are read out of the RAM. Thus an actuator 9 is actuated to give the hydraulic control to a mechanism 10. The present position of the mechanism 10 received the hydraulic control is read by an encoder (ENC)11 and fed to the CPU5 from an input buffer 12 via a gray/binary converter 13. The CPU5 calculates the deviation to the target value and gives a D/A conversion 6 to the absolute value and the polarity to store them in a sample holding amplifier 8a. Some fault is decided in case when the input data of the ENC11 is outside of the range which is defined at the RAM. |
