KR880013663A - Axis Return Method in Robot Control System - Google Patents

Axis Return Method in Robot Control System Download PDF

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Publication number
KR880013663A
KR880013663A KR870005410A KR870005410A KR880013663A KR 880013663 A KR880013663 A KR 880013663A KR 870005410 A KR870005410 A KR 870005410A KR 870005410 A KR870005410 A KR 870005410A KR 880013663 A KR880013663 A KR 880013663A
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KR
South Korea
Prior art keywords
axis
origin
sensor
control system
robot control
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KR870005410A
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Korean (ko)
Inventor
장병호
Original Assignee
신훈철
삼성항공산업 주식회사
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Application filed by 신훈철, 삼성항공산업 주식회사 filed Critical 신훈철
Priority to KR870005410A priority Critical patent/KR880013663A/en
Publication of KR880013663A publication Critical patent/KR880013663A/en

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  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

내용 없음No content

Description

로보트 제어장치에 있어서 축의 원점 복귀방법Axis Return Method in Robot Control System

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제1도는 로보트 제어장치에 있어서, 일반적인 축의 원점 복귀동작을 나타내는 설명도. 제2도는 로보트 제어장치에 있어서, 일반적인 원점 센서와 제로상의 관계를 나타내는 설명도. 제3도는 본 발명의 원점센서와 제로상의 관계를 나타내는 설명도.1 is an explanatory diagram showing a homing operation of a general axis in a robot control apparatus. 2 is an explanatory diagram showing a relationship between a general home sensor and a zero phase in a robot controller. 3 is an explanatory diagram showing a zero phase relationship with an origin sensor of the present invention.

Claims (1)

로보트나 X-Y테이블의 구동축이 직선 운동축인 경우에는, Ws〈 2.9를 만족시키고, 원통운동축인 경우에는또는를 만족시켜서, 원점 센서(1')내에 단 한개의 제로상(2)가 존재토록함과 아울러 원점센서(1')의 폭(b)를 조절가능케하여 제로상(2)가 원점센서(1')의 정중앙에 위치토록 하므로써, 축 (s)의 원점 복귀가 원점센서(1')의 좌,우측 어는 방향으로도 접근되게하여 원점 복귀시간을 단축시키도록 함을 특징으로 하는 로버트 제어장치에 있어서, 축의 원점 복귀 방법.If the drive axis of the robot or XY table is a linear axis of motion, Ws <2.9 is satisfied. or In this case, only one zero phase 2 exists in the origin sensor 1 'and the width b of the origin sensor 1' is adjustable so that the zero phase 2 becomes the origin sensor 1. By positioning it to the center of the '), the home position of the axis (s) is approached in the left and right freezing directions of the home position sensor (1') so as to shorten the home return time. Method for returning to the origin of the axis. (상기식에서, We, Wc, 원점에서(1')의 폭, P:보올스크류의 피치,:감속기의 감속률, Q:아암의 변화 각도, L:구동부 중심과 원점 센서뭉치 사이의 거리)(Wherein, We, Wc, width of origin (1 '), P: pitch of bowl screw, : Deceleration rate of reducer, Q: Angle of change of arm, L: Distance between center of driving part and home sensor bundle ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR870005410A 1987-05-29 1987-05-29 Axis Return Method in Robot Control System KR880013663A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR870005410A KR880013663A (en) 1987-05-29 1987-05-29 Axis Return Method in Robot Control System

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR870005410A KR880013663A (en) 1987-05-29 1987-05-29 Axis Return Method in Robot Control System

Publications (1)

Publication Number Publication Date
KR880013663A true KR880013663A (en) 1988-12-21

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KR870005410A KR880013663A (en) 1987-05-29 1987-05-29 Axis Return Method in Robot Control System

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KR (1) KR880013663A (en)

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