| 摘要 |
PURPOSE:To simplify the circuit and to give a simultaneity to position data of robot factors, by reading >=2 counter values at the same time by CPU as one data and thereby obtaining the value corresponding the present position of each movable factor. CONSTITUTION:Pulse signals which correspond to moving volume of a robot which has free function of running and rotating and up-down signals which changes to high and low according to the direction of the movement are issued from phase discriminators 52a-52d to counters 2a-2d. The outputs of the counters 2a-2d are connected to data bus 4 of parallel 16 bits through a buffer gate 3. Since the output of each counter 2a-2d is of 4 bits, they can be outputted simultaneously on the bus 4. A CPU5 read the calculated values of 2a-2d as one word, and store it at a word register 8. After separating the data into each value, the specified calculation is made and the value correspond with the present position of each moving factor can be obtained. |
