Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2005-01-25
2005-01-25
Black, Thomas C. (Department: 3661)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C710S125000, C710S240000, C318S568190, C348S125000
Reexamination Certificate
active
06847862
ABSTRACT:
A conveying apparatus is provided with a control device for performing infinite rotation control of rotation of a strut or wrist shaft of a robot conveying an article and a drive shaft of a conveyor. The control device comprises a rotary shaft (6) rotationally driven, a drive (7) for rotating the rotary shaft, an encoder for detecting a rotation of the rotary shaft, a servo control device (22) for controlling the drive (7) based on a program command, a main control device (10) for controlling rotation, and an infinite rotation control device (12) for controlling infinite rotation. The program command is prepared and position control is carried out based on a reference encoder value. In the case of issuance of a command from a command circuit, by adding or subtracting an encoder value equivalent to a position-moving amount, the reference encoder value is changed and stored. Thus, it is possible to obtain a conveying apparatus capable of performing infinite rotation control under the state of maintaining any operation range at any deceleration ratio.
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Black Thomas C.
Marc McDieunel
Mitsubishi Denki & Kabushiki Kaisha
Sughrue & Mion, PLLC
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