| 摘要 |
<p>PURPOSE: To minimize the truncation error of a robot system by inserting the data of the remaining error into a second memory area after writing increased data in a first memory area at every sampling time. CONSTITUTION: Positionally increased data from a CPU 10 are received by means of the central processing unit 21 of a lower-rank control section 20 at every 64-ms sampling time and divided into 32 parts whenever a 2-ms interrupt signal is generated, and then, the values corresponding to the 32 parts are stored in the memory area of a RAM 24. The positionally increased data are divided into 32 parts and the remaining value is stored in the memory area C of the RAM 24 after the value is converted into a binary value and the summed value of the values corresponding to the values stored in the areas A and C of the RAM 24 and the value corresponding to the remaining value is stored in the area D of the RAM 24. Since the maximum truncation error is constantly distributed to the memory area C of the RAM 24, a motor 40 can be controlled precisely by means of a servo control section 30.</p> |
