Robot having Selective Compliance Assembly Robot Arm: SCARA Robot

摘要

optional command to follow assembly robot arm (Selective Compliance Assembly Robot Arm: SCARA) robot having (the "SCARA robot" means) is a robot body, and vertically movable forward ( ) to the robot body, and a first arm coupled to the forward end portion so as to be movable in the first rotation arm is horizontal, the second arm is a second arm one end connected to the opposite ends of the first arm so as to be movable in a horizontal plane and rotates, comprises an axis rotatably mounted on the free end of the R and the second arm, the stepping motors (12 and 22, 32 and 42) is installed so as to move each of the forward and the first arm and the second arm, R-axis, the encoder is set up to calculate the stepping pulse of the stepping motor. By thus calculated pulse is fed back to the CPU1, the CPU1 can be corrected by the error when the error is detected between the computed pulse number, and the required number of pulses, when the error is detected, the stepping motor may be stopped The error is displayed.