Controller, control system, and control method

A non-transitory memory device having instructions stored thereon that, in response to execution by a robot controller, cause the robot controller to perform operations comprising:

• storing two or more coordinate conversion programs wherein each of the coordinate conversion programs converts an operation command defined in a unifying coordinate system to one or more operational target values defined in an operational coordinate system;
• receiving an operation command and program designation information from a unifying controller wherein the operation command is defined in the unifying coordinate system corresponding to the unifying controller, wherein the program designation information designates one of the coordinate conversion programs in the two or more coordinate conversion programs, and wherein the unifying controller is configured to provide operation commands to a plurality of controllers including the robot controller that operate using different coordinate systems;
• selecting the designated coordinate conversion program based on the program designation information, wherein the designated coordinate conversion program includes instructions for converting the operation command from the unifying coordinate system corresponding to the unifying controller to the operational coordinate system corresponding to a multi-axis robot having two or more joint axes;
• converting the operation command to the one or more operational target values for controlling the joint axes of the multi-axis robot based on the designated coordinate conversion program;
• and
• outputting driving power to one or more of the joint axes according to the one or more operational target values.

A control method for controlling a robot by a robot controller, the control method comprising:

• storing two or more coordinate conversion programs wherein each of the coordinate conversion programs converts an operation command defined in a unifying coordinate system to one or more operational target values defined in an operational coordinate system;
• receiving an operation command and program designation information from a unifying controller wherein the operation command is defined in the unifying coordinate system corresponding to the unifying controller, wherein the program designation information designates one of the coordinate conversion programs in the two or more coordinate conversion programs, and wherein the unifying controller is configured to provide operation commands to a plurality of controllers including the robot controller that operate using different coordinate systems;
• selecting the designated coordinate conversion program based on the program designation information, wherein the designated coordinate conversion program includes instructions for converting the operation command from the unifying coordinate system corresponding to the unifying controller to the operational coordinate system corresponding to a multi-axis robot having two or more joint axes;
• converting the operation command to the one or more operational target values for controlling the joint axes of the multi-axis robot based on the designated coordinate conversion program;
• and
• outputting driving power to one or more of the joint axes according to the one or more operational target values.