| 摘要 |
PURPOSE:To ensure smooth actions of an industrial robot that produces a command pulse through a digital differential analysis operation DDA, by performing arithmetic control in accordance with the result of comparison of multiplied products between an acceleration/deceleration arithmetic circuit and the shift amount of each axis. CONSTITUTION:A clock 51a given from a clock oscillator 51 is used as the address of a ROM54 that set an acceleration/deceleration curve via a counter 53, and the corresponding arithmetic trigger pulse OP is transmitted from a shift-register 55. A counter B101 counts the repeated arithmetic frequencies and transmits the count result to a controller 100 as the arithmetic frequency total value 101a and performs a switching action of a switch SW1 and a setting action of the counter A53 as well as the control of the acceleration/deceleration and a fixed speed. The controller 100 compares the acceleration/deceleration arithmetic frequency (A+D) with the multiplied product (PXXPYXPZ) equal to the total arithmetic frequency of a repeated addition method. When the former is larger than the latter, the digit length of cumultative addition register 108-110 is set at (A+D). While said digit length is set at the value of said multiplied product if the latter is larger than the former. Thus the smooth control is possible for actions of an industrial robot regardless of the shift amounts. |
