| 摘要 |
PURPOSE:To improve the accuracy of a reproduced locus without correcting teaching data, by controlling the moving speed of the shaft and arm in response to the reference pulse period of a clock pulse generator. CONSTITUTION:The shift degrees of each shaft and arm or the value at an interpolating point of the revolving angle which are calculated by interpolation arithmetic devices 21 and 22 and based on the key point obtained by teaching are stored in storage devices 31 and 32. At the same time, a variable period pulse generator 21 produces a reference pulse based on the data. In this case, the shift degrees of each shaft and arm at the interpolating point or the speed and acceleration of the revolving angle are obtained by speed/acceleration arithmetic devices 161 and 162. Then the correcting coefficients 181 and 182 of the reference pulse period are obtained by correcting coefficient arithmetic devices 171 and 172 for reference pulse period in order to satisfy conditions for the combination of the speed and acceleration which are obtained by the devices 161 and 162. |
