| 摘要 |
PROBLEM TO BE SOLVED: To reduce a load for a host controller, and to reduce a communication load. SOLUTION: A robot distributed control system 10 includes the host controller 12 for issuing a first command, and a plurality of communication controllers 18 connected to the host controller 12 by tree structure, and the communication controller 18 interprets the first command to find a control parameter, or executes an application program in response to the first command to issue a second command, and finds the control parameter based on the second command. In any of the both cases, the control parameter is output from the communication controller 18 to a motor controller 20, and the motor controller 20 controls a plurality of motors 22. The motor is controlled sharedly by the host controller 12 and the communication controller 18 to reduce the load for the host controller 12, and to reduce the communication load therebetween. COPYRIGHT: (C)2004,JPO
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