| 摘要 |
PURPOSE:To decrease the software manufacturing rocesses and to attain the high-speed processing by using a digital servo circuit consisting of a multiplexer, an arithmetic circuit and an access enable memory. CONSTITUTION:A computer 11 calculates a target position and writes it to a memory 27 of a servo circuit S. Then the computer 11 writes the gain of a D/A converter 23 at an optional level. Thus the circuit S supplies the speed data (v), the position data P and the motor current data (i) to a multiplexer 20a, calculates a transmission function according to a coefficient written to the memory 27 and delivers the data on said transmission function to power amplifiers 6-1 and 6-n to control motors M1 and Mn. The circuit S holds a state where a manipulator is set at its target position in a conventional servo system as long as the new target position data or arithmetic coefficient data is not written from the computer 11. Therefore it is just required for the computer 11 to write the angle of each shaft of the manipulator to the circuit S asynchronously with the circuit S. This simplifies greatly the software structure and also increases the data processing speed. |
