Title:
DRIVING CONTROLLER OF ROBOT
Document Type and Number:
Japanese Patent JPS6054022
Kind Code:
A
Abstract:
PURPOSE:To reduce the number of parts of a detector and make the detection precision higher to facilitate adjustment by using the detector consisting of a potentiometer and a comparing circuit which generates a detection signal of the origin and upper and lower limits of a movable member. CONSTITUTION:When a movable member 11 is turned from the lower limit to the upper limit, a movable contact 35 of a potentiometer 33 is slided on a resistance body 34, and an output voltage E of a comparing circuit 39 is increased linearly in accordance with the increase of the operating angle of the member 11. When this voltage E becomes higher than a reference potential Ed of a comparing circuit 54, a lower limit detection signal is obtained from a comparing circuit part 42 for lower limit detection. When the voltage E becomes higher than a reference potential Ea of a comparing circuit 43, an origin detection signal is obtained from a comparing circuit part 40 for origin detection. When the voltage E becomes higher than a reference potential Ec of a comparing circuit 53, an upper limit detection signal is obtained from a comparing circuit part 41 for upper limit detection. Consequently, the upper or lower limit detection signal is inputted to a microcomputer 23 when the member 11 exceeds the operating range, and a servo motor 15 is stopped quickly.
Inventors:
KITAMURA SHIYOUZOU
Application Number:
JP16212683A
Publication Date:
March 28, 1985
Filing Date:
September 01, 1983
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP
International Classes:
G05D3/12; B25J9/12; B25J9/16; G05B19/35; (IPC1-7): B25J9/12; G05D3/12
Attorney, Agent or Firm:
Masuo Oiwa