| 摘要 |
PURPOSE:To attain miniaturization of components and sophisticated positioning control by calculating a command position of each position control device based on a teaching data, outputting the result at a comparatively long control period, calculating a command speed to each position control device and outputting the result at a comparatively short control period. CONSTITUTION:Since the calculating processing of command positions P1, P2, P3 - is complicated and a long operating time is required, a position command period T0 is comparatively longer, e.g., 10(ms). That is, a microprocessor 2 calculates the command position of each robot element based on the teaching data and corresponds to a position command operating processor 6 giving an output with a comparatively long control period. The position control processor 6 reads conts, Q1, Q2, Q3 - of position counters 11, 21, 31, - of robot elements 10, 20 30 -, compares them with command positions P1, P2, P3 - to output command speeds S1, S2, S3 - to DA converters 12, 22, 32 - at each prescribed control period T1. The processing like this is simple and a short operating time is enough for the purpose, then the control period T1 is comparatively short, e.g., 1(ms). |
