COMPUTATION UNIT, ASSISTANCE UNIT, ASSISTANCE PROGRAM, RECORDING MEDIUM STORING ASSISTANCE PROGRAM, AND OPERATION METHOD IN ASSISTANCE DEVICE

摘要

This computation unit contains: a target position calculation means that sequentially calculates first target positions in a first coordinate system with regard to the same motion operation; and a command value calculation means that calculates motion command values for a designated drive device during each control cycle of motion control by sequentially calculating second target positions in a second coordinate system corresponding to the first target position in accordance with a predetermined correspondence. Here, the second coordinate system is defined by a plurality of axes respectively associated with a plurality of motors that are involved in the same motion operation. The computation unit further contains an output means that batch outputs the respective motion command values for the plurality of motors during each control cycle of motion control.