Abstract: A servo motor control system for accurately pointing and controlling the speed of a servo motor using a low resolution PWM signal. A PWM command value given in each control operation cycle for driving other servo motors is divided, and output to a power control device operating signal generation circuit.

Abstract: There is disclosed a control method for returning a robot control operation to an accurate zero point before the start of the operation. The method is suitable when applied even to a turning operation of 360 degrees or more. For this control, the arm of the robot is turned counterclockwise at a low speed until a zero position detecting switch is turned on, and these turns are then reversed and stopped when a zero position detecting pulse is generated. The counted value (A) of the deviation between the instant when the zero position detecting switch in this case is turned on and the instant when the zero position detecting pulse is generated is registered. The counted value (B) measured likewise each time during the subsequent zero point adjustments is compared with the aforementioned counted value (A) of the deviation first registered so that the zero point of the control operation of the robot can be detected.

Abstract: In a control apparatus controlling point-to-point movement of arms of a robot, stepping motors are used to drive the shafts of the robot arms respectively, and motor drivers drive the stepping motors according to a 1-2-phase excitation mode in a low speed range but according to a 2-phase excitation mode in an intermediate and a high speed range.