MOTION PROGRAMMING METHOD USING DETECTION OF STEP-OUT OF STEP MOTOR

摘要

The present invention relates to a motion programming method using detection of step-out of a step motor. According to the present invention, a control drive shaft robot system comprises: a step-out function driver (102); a control unit (103) to detect a step-out detection signal (110) by controlling the driver with a drive control signal (108) such as STEP and DIR and a drive setting signal (109) such as SPI and UART and the like; and a step motor (101) controlled by the driver and the control unit. When step-out is detected by a force applied by a user while the step motor vibrates in a clockwise direction or a counter-clockwise direction with an output reduced more than a normal output within a range of a microstep angle (105) in a motion programming mode, the step motor moves at a step angle (104) with the normal output in a direction opposite to a movement at the microstep angle (105). As such, the step motor (101) moved in a direction of a force applied by the user and the step motor (101) is used. Although it is difficult to move a transfer unit with a user′s manpower due to a high gear rate or a pulley rate of a driving system, the robot system is able to have an effect of moving the transfer unit with the user′s manpower using a motor drive reacting to a force of a user and perform a motion programming work while easily moving the transfer unit.;COPYRIGHT KIPO 2017