Abstract: A photo-solidification modeling apparatus and a photo-solidification modeling method, wherein the reliability of an operation for coating the upper surface of a solidified layer with an unsolidified liquid is improved and the time required to carry out the same operation is reduced. To meet the purpose, a clearance is formed between the lower surface of a recoater travelling on a solidified layer and the upper surface of the solidified layer. When this condition is satisfied, an unsolidified liquid is introduced onto the solidified layer by virtue of both the force of the lower surface of the recoater which drags the unsolidified liquid and the nature of the unsolidified liquid entering the clearance. When recesses are provided in the lower surface of the recoater, the liquid adsorbed to the surfaces of the recesses is also introduced onto the unsolidified layer.

Abstract: An industrial robot control apparatus for teaching an industrial robot and operating the robot in accordance with the teaching comprises a teaching handle (9) having a teaching switch (10), and a brake release switch (11) and a sequence control circuit (1). When the operator grips the teaching handle (9), the brake release switch (11) is activated, whereby a servo amplifier (6) is brought to an emergency stop condition in response to a signal from the switch, and a dynamic brake and a mechanical brake are released.

Abstract: An absolute position detecting system for a servocontrol system which has its operation controlled in accordance with a numerical control program. Resolvers 202 and absolute encoders 110 made rotatable with a servomotor 105, are set at a predetermined revolving ratio so that the absolute positions of operating axes may be detected highly accurately from the revolution outputs of the two. The detecting operations can be performed for the plural operating axes by using one detecting circuit commonly.