| 摘要 |
PURPOSE:To multiplex a robot in time division with high efficiency by dividing the necessary signals for the signal groups that are multiplexed in time division in accordance with the detecting speed and sampling/holding SH with the sampling frequency corresponding to each group for multiplexing in time division. CONSTITUTION:The data latches 26 and 27 perform SH for the signals 23-25 of the encoders set to the motors of X, Y and Z axes respectively and detecting signals at a high speed as well as the signals 20-22 of the limiters which detect signals at a low speed. Then the limit signals 20-22 undergone SH are switched at a 10mus cycle by the signal multiplexers SMP 28 and 29 and turned into the multiplex signals. These multiplex signals and the encoder signals given from the latch 27 are supplied to the SMP 29. Then the signal 20-25 are switched successively in a 5/6mus cycle and turned into the multiplex signals. These multiplex signals are supplied to a demodulator set at the robot controller side together with the line drive synchronizing signal.
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