Title:
ORIGIN SETTING SYSTEM OF TAKE-AROUND AXIS
Document Type and Number:
Japanese Patent JPH05108120
Kind Code:
A
Abstract:
PURPOSE:To perform the origin setting of the take-around axis independently on one side control axis (take-around factor axis). CONSTITUTION:An APC 32 is an absolute position detector built in a servo motor to drive an A axis (take-around axis), and in an A0 storing means 11 of a robot controller 10, a counted value A0 of the APC 32 when the take- around axis is positioned at the origin up to the previous times is stored. A first A0 updating means 12, at the time of setting the origin at one side control axis side, performs the correction and the updating of the A0 by using the take-around portion. A second A0 updating means 13 performs the origin setting of the take-around axis while there is no take-around by one side control axis, and updates the A0. By both first and second A0 updating means 12 and 13, the counted value (an origin up to the previous times) of the APS 32 up to the previous times stored in the A0 storing means 11 is updated, and stored as a new origin.
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Inventors:
KITANI NOBUYUKI
HISHIKAWA TETSUO
HISHIKAWA TETSUO
Application Number:
JP26767991A
Publication Date:
April 30, 1993
Filing Date:
October 16, 1991
Export Citation:
Assignee:
FANUC LTD
International Classes:
G05B19/18; G05D3/12; (IPC1-7): G05B19/18; G05D3/12
Attorney, Agent or Firm:
Hattori Takeshi