ROBOT CONTROLLER

PURPOSE:To reduce the vibrations of a motor without deteriorating the control performance by producing plural command pulses with each single addition of an integration register. CONSTITUTION:An MSB signal 11a is applied to a single-pulse generator 14A1 from the highest bit MSB of an addition value register 11, and the number included in the lower (n-1) bits is applied to an adder 13. While an overflow signal 112a is applied to a single-pulse generator 14A2 from the highest bit MSB of the register 11, and the value corresponding to the lower (n-1) bits is applied to the adder 13. The adder 13 adds the values given from registers 11 and 112 and transfers the added value up to (n) bits including the overflow amount to the register 112. Both generators 14A1 and 14A2 supply signals 11a and 112a and command pulse generation timing signals 117A and 117B respectively and then delivers the command pulses as single pulses of different phases. Thus it is possible to produce a command pulse 1a of double pulse number.