JPS6244303U - - Google Patents
Info
- Publication number
- JPS6244303U JPS6244303U JP13311485U JP13311485U JPS6244303U JP S6244303 U JPS6244303 U JP S6244303U JP 13311485 U JP13311485 U JP 13311485U JP 13311485 U JP13311485 U JP 13311485U JP S6244303 U JPS6244303 U JP S6244303U
- Authority
- JP
- Japan
- Prior art keywords
- servo motor
- latch
- robot
- arm
- rotation angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000002441 reversible effect Effects 0.000 claims description 3
- 239000003550 marker Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
Landscapes
- Numerical Control (AREA)
Description
第１図は本考案の一実施例を示す系統図、第２
図は従来のサーボモータからのフイードバツクパ
ルスカウンタのラツチ方法を示す系統図である。
１……可逆カウンタ、２，３……ラツチデバイ
ス、ａ，ｃ……ラツチ用クロツク、ｂ……カウン
タ用入力。
Fig. 1 is a system diagram showing an embodiment of the present invention;
The figure is a system diagram showing a conventional method of latching a feedback pulse counter from a servo motor. 1... Reversible counter, 2, 3... Latch device, a, c... Clock for latch, b... Input for counter.
Claims (1)
制御装置において、上記サーボモータの回転角に
応じて発生するフイードバツクパルスをカウント
する可逆カウンタと、上記可逆カウンタのカウン
ト値を所定の周期毎にラツチする第１のラツチデ
バイスと、前記サーボモータの所定回転角で１回
転する毎に発生するゼロマーカでラツチする第２
のラツチデバイスを備え、アーム等の原点復帰時
に上記第１および第２のラツチデバイスのカウン
ト値の差分だけ原点復帰位置を補正することを特
徴とするロボツトの制御装置。 A control device for a robot that drives an arm or the like with a servo motor includes a reversible counter that counts feedback pulses generated in accordance with the rotation angle of the servo motor, and a count value of the reversible counter that is latched at predetermined intervals. A first latch device and a second latch device that latches at a zero marker that is generated every time the servo motor rotates once at a predetermined rotation angle.
1. A control device for a robot, comprising a latch device, and corrects the return-to-origin position by the difference between the count values of the first and second latch devices when the arm or the like returns to the origin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13311485U JPS6244303U (en) | 1985-09-02 | 1985-09-02 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13311485U JPS6244303U (en) | 1985-09-02 | 1985-09-02 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6244303U true JPS6244303U (en) | 1987-03-17 |
Family
ID=31033130
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP13311485U Pending JPS6244303U (en) | 1985-09-02 | 1985-09-02 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6244303U (en) |
-
1985
- 1985-09-02 JP JP13311485U patent/JPS6244303U/ja active Pending
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