Abstract: A controller for a feeder which automatically feeds a work into and out of a press machine in relation to the operation of said press machine. The controller is capable of automatically setting optimum motion curve in accordance with the configurations and sizes of the press die and the work and determining whether any undue operating condition has been set. To this end, the feeder controller has a device for setting the operation start angle value and operation finish angle value in terms of the rotation angle of a crank shaft of the press machine, and computing device for determining a motion curve on the basis of the operation start and finish angle values. The feeder controller also has a device for computing allowable maximum operation stroke number of the press machine and a device for comparing this stroke number with a set stroke number for the purpose of determination as to whether motors are overloaded or not.

Abstract: A positioning control system wherein variations in the robot coasting distance are substantially eliminated by stopping the command pulse signals simultaneously with a generation of the origin pulse signal from the incremental encoder. The deviation between the final robot position and the origin is minimized by driving the motor in its backward direction to back up the robot by an amount approximately equal to the coasting distance. The robot moving distance during the time period from the beginning of origin return operation (i.e., backup) to a generation of the first spike in the origin pulse signal after beginning backup to the above first stoppage of the robot is found. If the found distance is different from the coasting distance then this difference is handled as an error.In one aspect of the present invention, the number of spikes appearing in the output pulse signal from the incremental encoder can be easily increased as necessary to thereby improve the resolution power of the incremental encoder.

Abstract: A method for performing multi-layer welding using a welding robot, in which welding on the second and subsequent layers is carried out by backwardly displacing the position of a torch tip by a preset value.

Abstract: A method for performing multi-layer welding using a welding robot is disclosed, in which welding on the second and subsequent layers is carried out by backwardly displacing the position of a torch tip by the amount of a preset value. This displacement is made possible through making a constant determined by a torch shape increase by the preset value.