| 摘要 |
PURPOSE:To shorten an arithmetic time by converting control data on (n) sets of actuators into control data on (n-1) sets of actuators and performing arithmetic. CONSTITUTION:Data (X-J6) on simultaneous six-axis control which are inputted by teaching are inputted to a control data converter 5 and converted into complete simultaneous five-axis control data. The converted data is supplied to a five-axis controller 6 for control arithmetic, and the result is converted by a reconverter 5 into simultaneous six-axis control data (J1-J6), which are stored in a memory 7. Those data (J1-J6) are outputted to a servo system 3 to drive a motor 4. Those data conversion, calculations, input/output control over data, etc., are carried out under the control of CPU2. |
