| 摘要 |
PURPOSE:To omit the setting change operation by starting a job sequence related to an end point between two points in the timing where the difference the full interpolation frequency and the executing interpolation frequency is set under a fixed value. CONSTITUTION:A robot controller consists of a locus arithmetic part 1, a counting part 2, and an instruction executing part 3 which gives an instruction to a tool action control part 4 for its actuation based on the information given from the part 2. The part 1 decides the coordinates di for each cycle of a reference clock and calculates the shift value of each servo shaft that is needed to shift the control point of a robot arm to the point di to give the calculated shift value to each servo shaft. When the interpolation is started between program points Pi, Pi+1, the full interpolation frequency N is calculated and set at the part 2 and an executing interpolation signal is supplied to the part 2 for each output of the shift value corresponding to the point di given to the servo systems. Thus the part 3 calculates the remaining time needed for arrival at the point di and calculates it with the set time to start the actuation of a tool via the part 4.
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