| 摘要 |
PURPOSE:To decrease the number of cables by connecting a motor controller to a 1-chip microcomputer with a pair of cables and performing transmission of data in the form of time division multiplex signals. CONSTITUTION:The motor control signal, the encoder signal, etc. are transferred between a buffer 13 set at the side of a 1-chip microcomputer 11 provided every joint and a buffer 16 set at the side of a robot main body. Both buffers 13 and 16 consist of conversion parts 14 and 17 which convert parallel signals into series signals and vice versa and strobe signal producing parts 15 and 18. Thus a robot system is started and at the same time the signals are always delivered to a motor control part from each computer 11. Then these signals are supplied to the buffer 13. The part 15 receives an enable signal and controls the signals for use of cables. The signal is transmitted in time division from the computer 11 to drive a motor 21 via a prescribed motor controller 24.
|
