| 摘要 |
PROBLEM TO BE SOLVED: To perform safe action even when error exists in designation of a passage point in deceleration of a movable body at the passage point, and facilitate forming and checking a program. SOLUTION: The program 4 includes a target position moving command 21 including a target position A for the movable body 2 and a speed command V1, and a passage point command 20 including the position of a passage point C for the movable body 2 and a speed command V2. A control means 6 comprises a passage determining part 26, and a passage determination-based execution part 27. The passage determining part 26 determines if the passage point C exists on a passage route R to pass before reaching the target position A or not based the target position moving command 21 and the passage point command 20. The passage determination-based execution part 27 moves the movable body 2 to the target position A based on the speed command V2 of the passage point command 20 till the passage point C is reached, and based on the speed command V1 of the target position moving command 21 after passing it in a case where it is determined that the passage point C exists on the passage route R. In a case where it is determined that the passage point C is not on the passage route R, the movable body 2 is moved to the target position A based on the speed command V1 of the target position moving command 21 from the beginning of moving. COPYRIGHT: (C)2005,JPO&NCIPI
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