| 摘要 |
PURPOSE:To improve the controllability of a robot, by calculating segment data at every system clock based on position data in advance before performing play back. CONSTITUTION:By applying a check operation or an operation equivalent to the check operation after performing teaching work, (a) the conversion of a final point to an orthogonal coordinate value, (b) the calculation of a difference based on a start position and an end position, (c) the calculation of a distance, (d) the calculation of the number of times N of the system clocks required for movement, (e) the arbitrary k-th number of calculation of a targeted position to pulse data, and (g) the calculation of the difference between the pulse data of the targeted position and the present value or the pulse data of a preceding targeted value, are performed, and the segment data whose k is from one to N is stored in a RAM in order. At the time of the play back, no re-arithmetic operation of the segment data calculated in advance is performed, and the operation is performed by using the data stored in the RAM as it is.
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