Abstract: A conveying apparatus is provided with a control device for performing infinite rotation control of rotation of a strut or wrist shaft of a robot conveying an article and a drive shaft of a conveyor. The control device comprises a rotary shaft (6) rotationally driven, a drive (7) for rotating the rotary shaft, an encoder for detecting a rotation of the rotary shaft, a servo control device (22) for controlling the drive (7) based on a program command, a main control device (10) for controlling rotation, and an infinite rotation control device (12) for controlling infinite rotation. The program command is prepared and position control is carried out based on a reference encoder value. In the case of issuance of a command from a command circuit, by adding or subtracting an encoder value equivalent to a position-moving amount, the reference encoder value is changed and stored.

Abstract: A conveying apparatus is provided with a control device for performing infinite rotation control of rotation of a strut or wrist shaft of a robot conveying an article and a drive shaft of a conveyor. The control device comprises a rotary shaft (6) rotationally driven, a drive (7) for rotating the rotary shaft, an encoder for detecting a rotation of the rotary shaft, a servo control device (22) for controlling the drive (7) based on a program command, a main control device (10) for controlling rotation, and an infinite rotation control device (12) for controlling infinite rotation. The program command is prepared and position control is carried out based on a reference encoder value. In the case of issuance of a command from a command circuit, by adding or subtracting an encoder value equivalent to a position-moving amount, the reference encoder value is changed and stored.

Abstract: In mobile communications, it is required that the beam direction is maintained to track the desired direction as the mobile is moving. For such a purpose, the mobile includes an angular rate sensor mounted therein which detects the state of turn in the mobile and to control the beam direction of the antenna in accordance with the state of turn as well as the strength of radiowave received by a receiver in the mobile. Antenna elements are in the form of microstrip antenna and are arranged in plane on the same dielectric substrate. Feeding and drive circuit layers for controlling the transmission and reception at the antenna elements are stacked into a single layered unit. This enables the antenna system to be formed into a low-profile structure. The dielectric substrate of the microstrip antenna element is formed by stacking a plurality of dielectric substrate different in dielectric constant from one another.