PURPOSE: To automatically reduce a speed by the automatic corner speed reduction system of a controller corresponding to the degree of a shock received at a moving speed based on a movement command of a command program in a corner.
CONSTITUTION: A storage means 1 is stored with the maximum moving speed 1a of a tool, a time constant 1b at the time of reduction in moving speed in a corner, and a permissible shock coefficient 1c showing a permissible maximum value at the time of the arrival of the tool, a robot arm, etc., at the corner. A shock quantity calculating means 2 calculates a permissible shock quantity and a shock quantity showing the degree of a shock that the tool receives based on the maximum moving speed 1a, time constant 1b, permissible shock coefficient 1c, and the speed difference between the moving speed of a currently executed block in the command program and the moving speed of a next block. Then a speed reducing means 3 outputs interpolation pulses for reducing the moving speed of the currently executed block when the shock quantity exceeds the permissible shock quantity.
KOZAI HARUHIKO
ISHIBE TOMOAKI
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