| 摘要 |
PROBLEM TO BE SOLVED: To achieve reduction in total operation time by mitigating program correction operation.SOLUTION: A controller 30 comprises: a teaching program storage unit 31 storing therein a teaching program; an instruction interpretation unit 32 transmitting a moving-related instruction to a moving-related instruction separation unit 33, and executing a non-moving-related instruction; the moving-related instruction separation unit 33 determining whether the instruction is a synchronous-interval instruction or a non-synchronous-interval instruction, and separating the moving-related instruction for every device according to a determination result; a moving-related instruction buffer unit 34 making a selection as to whether to transmit the moving-related instruction to a sub-locus calculation unit 36 or to store therein the moving-related instruction on the basis of device moving states; a main-locus calculation unit 35 calculating moving-related information on synchronous-controlled devices on the basis of the moving-related instruction; the sub-locus calculation unit 36 calculating moving-related information on non-synchronous-controlled devices on the basis of the moving-related instruction; and a motor driving unit 37 driving the respective devices to operate. |
