| 摘要 |
PURPOSE:To execute the highly speedy interpolation and to execute the smooth action of the arm of a robot even when the division is made thinner by executing in an exclusive-use way the dividing, interpolating and coordinate-converting to respective axes of a command on the sub-processor side. CONSTITUTION:At a main processor side, a shifting command value (P1-P2) is read, this is sent to a sub-processor side, on the sub-processor side, the shifting command is divided into d1, d2... and the command value divided on the sub- processor side is linearly interpolated. The value interpolated by the sub- processor side is converted from an orthogonal coordinate system to the command of respective axes, this is sent to the main processor side, the command value of respective axes is received by the main processor side and the shifting of respective axes is commanded. Thus, since the dividing, linear-interpolating and coordinate-converting only of the command are executed in an exclusive-use way at the sub-processor, the interpolation can be executed at a high speed.
|
