DOUBLE SPIRAL MOTION CONTROL METHOD, APPARATUS AND PROGRAM AS WELL AS RECORDING MEDIUM WITH THE PROGRAM RECORDED THEREON

摘要

PROBLEM TO BE SOLVED: To provide a motion control method capable of moving an object to be controlled without stopping the object to the plane of a workpiece. SOLUTION: The motion control method is provided with: first spiral locus data creation steps S3-S5 for creating first spiral locus data in order to move the object 23 to be controlled from a start point PA1toward the inside of the plane of the workpiece 13 along a first spiral locus SP1 where the start point PA1is arranged outside the plane of the workpiece 13; and a second spiral locus data creation steps S3-S5 for creating the second spiral locus data in order to move the object 23 from the inside of the plane of the workpiece 13 toward an end point PBnalong a second consecutive spiral locus SP2 at the first spiral locus SP1 where the end point PBnis arranged outside the plane of the workpiece 13. COPYRIGHT: (C)2004,JPO