Robot Axis Servo Controller Program
Original Publication Date: 1983-Oct-01
Included in the Prior Art Database: 2005-Feb-07
This set of programs is used to control the movement of a single axis 10 of a robot using a microprocessor. This dedicated high speed processor samples the current axis position continuously. It then makes fine adjustments to insure an accurate path and an accurate placement of the axis at the required target position, as indicated in the figure. The Robot Axis Control Program (RASCO) 12 consists of the following modules and associated functions: Mainline - This module controls the execution of all RASCO modules. It also determines the operation phase starting with the "build phase" through the "hold phase". Master Interface - This module controls the interface between the host processor and RASCO via a Link.