| 摘要 |
PROBLEM TO BE SOLVED: To provide smooth interpolating operation, while avoiding over speed when performing linear or arcuate interpolating operation. SOLUTION: This device is provided with a joint speed operating part 51 for calculating a joint command speed on the basis of teaching data, joint speed excess degree operating part 52 for calculating a speed excess degree dividing the joint command speed with a joint maximum speed, norm operating part 53 for calculating the norm of a vector with the speed excess degree of each joint as an element and correction coefficient operating part 54 for inputting the norm and outputting a correction coefficient which is a value less than '1', when the input is less than '1', and a value less than the reciprocal of the input, when the input is greater than '1'.
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