ROBOT CONTROLLER

PURPOSE:To calculate a moving amount as dealing with the worst case to occur very rarely without spending any special expense on a calculating system by controlling the number of data stored in an FIFO (first-in first-out). CONSTITUTION:When a robot is turned into an operation starting state, an output time timer is started, and the calculation of the moving amount to be outputted next time is started. When the calculation is finished, a calculated result is stored in the FIFO. When the operation of the robot is finished, the output time timer is stopped. When it is not finished, if a free area exists in the FIFO, the calculation of the moving amount of each shaft to be outputted next is started. Thereafter, this processing is repeated. The count-up of the output time timer is monitored in parallel with this processing, and when the output time timer counts up, the moving amount is taken out of the FIFO, and is outputted to each shaft. When the FIFO is vacant at the time of the count-up of the output time timer, data in the past is calculated, and a value by which the robot does not cause any sudden operation is outputted as the moving amount, and a warning error is displayed.