| 摘要 |
PURPOSE:To correct position of hands and path of a robot, by storing a correction data in a memory and reading out a desired correction data. CONSTITUTION:When a tool exchange command included in a robot command data is read out, the robot exchanges the tool. Simultaneously, an offset amount corresponding to a tool code is read out from a correction memory CME and stored in an incorporated register. Then, the coordinate of an offset position and incremental values X and Y to said offset position are obtained and they are inputted to a pulse distribution circuit. The pulse distribution circuit executes the pulse distribution operation based on the X and Y and generates a command pulse Xp. Further, a DC motor is driven via an error register, a DA converter, an addition and subtraction circuit, and a speed control circuit. On the other hand, the command pulse Xp generated from the pulse distribution circuit PDC is counted inversely in response to the shift direction in a present position register CXR. |
