TWIN TYPE ORTHOGONAL ROBOT CONTROLLER

PURPOSE:To reduce the influence of load fluctuation due to the position of a head part in the controller of a twin type orthogonal robot in which the head part is fitted to an X shaft supported at its both ends orthogonally crossing to two parallel Y1 and Y2 shafts. CONSTITUTION:The head part is fitted to the X shaft 1 supported at its both ends orthogonally crossing to two parallel Y1 shaft 2 and Y2 shaft 3 driven in a horizontal plane, and the Y1 shaft 2 and the Y2 shaft 3 are controlled by a controller 25 so as to synchronize with each other and minimize the differences of an absolute position respectively. This controller 25 is provided with a speed loop gain adjuster 26, and this speed loop gain adjuster 26 adjusts the speed loop gain of the Y1 shaft 2 and the Y2 shaft 3 by the position information of the head part, and reduces the influence like synchronization delay, etc., caused by the load fluctuation of the Y1 shaft and the Y2 shaft 3 due to the position of the head part.