| 摘要 |
PURPOSE:To improve the route precision and reduce the load of a central processing circuit by providing a route processing unit which calculates a route before automatic operation and providing the central processing unit which stores the output of said processor to control the operation of a robot. CONSTITUTION:A converter 11 converts position information of each operating axis to that of individual coordinate axes and converts position information of each coordinate axis to that of individual operating axes. A route processing unit 12 calculates a route, and position information of interpolated points which are output information of the processor 12 are stored in a storage device 13. A central processing unit 1 reads out a program from a storage device 2 and executes it successively; but if an instruction requiring the route control appears, position information stored in the device 13 is read out to output a position command to a servo driving device 7. A route check device 13 checks whether the route calculated by the processor 12 is deviated from the operation range of the robot or not and whether the speed of each joint of the robot exceeds a maximum speed or not. A route correcting device 14 corrects the route.
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