A control device for a handling device includes a storage medium, a processing unit, an output for outputting signals, and an input for receiving signals from the handling device. A waiting phase is conducted before an actuation of an end-of-arm tool mounted to an end-of-arm of a handling arm. The signals received by the input represent a dynamic parameter of the end-of-arm of the handling arm and the threshold value corresponds to a specific dynamic parameter of the end-of-arm stored in the storage medium. The received signals can be compared with the threshold value by a comparison unit of the control device, and the end of the waiting phase can be determined when reaching the threshold value. Depending on the curve of the dynamic parameter, the threshold valuecan be determined and the end of the waiting phase can be determined when reaching the threshold value (G.sub.t).

An apparatus for taking out a molded product that is capable of suppressing displacement vibration of an attachment in a shorter time than ever without using a large-scaled electric actuator. An active controller performs active control in conjunction with the positioning, control by the servomotor. At the beginning of the active control, the positioning control is primarily performed by the servomotor, and then the active control is positively performed by the active controller using an electric actuator. Compared with when only the active control is performed for vibration suppression, a lighter and smaller electric actuator can be employed.

A molded product take-out apparatus includes: a controller independent of a molding machine; a take-out robot for releases a molded product from a mold in the molding machine by a command from the controller; a temperature controller regulates the temperature of the mold; a material dryer dries material to be supplied to the molding machine; and a material conveyor supplies the dried material to the molding machine. The controller is network-connected to the take-out robot and the temperature controller and the material dryer and the material conveyor. The controller is configured to control a release operation of the take-out robot to differentiate a release place between when judging that a detection data to be within an allowable range and another case.

In a method for determining at least part of a path (12) for connecting at least one starting point (14) to at least one finishing point (16) in a space (R) for at least one autonavigation of at least one movable component through the space on a machine (100), at least one model of the movable component and the machine is provided, information on the geometry is gathered, current positions are determined and these are brought into relation with one another to create a graph (10). An algorithm is used to calculate the path (12), collision-free autonavigation along the path (12) being carried out after a collision check has been performed. This assists the operator in adapting the machine cycle, while likewise bringing about an improvement in terms of the travel path, cycle time, reliability of the process, energy and wear.

In an injection molding system, a holding force changing means reduces a holding force to a predetermined level or less if a predetermined or higher load is detected by an external load detection means after a molded article is transported to a work area of an operator by a molded article transport device. Thus, the operator can easily take out and inspect the molded article.

There is provided a control system for an apparatus for taking out a molded product, the apparatus performing appropriate operation when a collision occurs while a servo system control section is manually operated. When a collision detection section outputs an operation stop command, a deviation clearing section performs clearing operation to bring deviations in a servo system control section to zero with the servo system control section kept on. Positioning is completed as the deviations are brought to zero, which enables operation to be performed again. When a retracting operation is performed after the operation is stopped, servomotors are operated according to an operation command, which allows smooth retraction from the collision state.

Provided are a mirror-surface member configured to reflect an insert held by an insert moving means and an insertion position compensation means. An amount of misalignment between the insert and the insert moving means is calculated based on a photographed image of the insert reflected on the mirror-surface member, and an insertion position for the insert to be inserted into a mold is compensated based on the amount of misalignment.

An injection molding system includes an injection molding apparatus to which a mold is attached, and an ejection apparatus that ejects a molded product from the mold in a mold open state in which the mold is open, wherein the injection molding apparatus is configured to enable an operator to eject the molded product from the mold at a predetermined work position, and the injection molding apparatus is disposed between the work position and the ejection apparatus.