Control system for apparatus for taking out molded product that detects collision based on torque

A control method for an apparatus for taking out a molded product, comprising:

• detecting, using an encoder, a position and a speed of a drive portion of a servomotor operable to drive a frame including a take-out head of the apparatus, calculating a deviation between a detected value of the position and a value of a position command and a deviation between a detected value of the speed and a value of a speed command, and controlling the servomotor by performing feedback control on the position and the speed of the drive portion using the deviations;
• generating a manual command for manually operating a servo system control section;
• detecting torque applied to the frame when the servomotor is manually operated by providing an operation command to the servo system control section according to the manual command;
• outputting an operation stop command by assuming that the take-out head has collided with a peripheral object when a detected torque value becomes larger than a predetermined value;
• performing a clearing operation to bring the deviations in the servo system control section to zero with the servo system control section kept on when the operation stop command is output;
• detecting an action direction of torque that acts on the take-out head;
• display the action of the torque and a torque indication that is proportional to a magnitude of the torque;
• and
• displaying a suggestion indication adjacent to the torque indication, the suggestion indication suggest direction of retraction.