| 摘要 |
PURPOSE:To easily attain the changing in program and to flexibly deal with individual actuators by storing a mechanism converting program prepared by a computer for supporting into the non-volatile memory to be able to read and write in a robot control device. CONSTITUTION:A computer 1 for supporting prepares the position data of teaching, and prepares a mechanism converting program and other system program. The computer 1 compiles a mechanism converting program and an action program and loads down the machine word converted by a compiler through a communication line 3 to a non-volatile memory RAM 20 to be able to read and write in a robot control device 2. A generalizing control device 2a receives an operation starting command from the computer 1, and obtains a joint angle command value to output from respective position data to respective servo control parts 2b corresponding to respective actuators 41-4n from respective position data in accordance with the mechanism converting program stored in the RAM 20.
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