Patent ID: 7463002

Claim:
A robot controller system comprising: a robot including a first actuator and a second actuator; a main controller for driving the first actuator; and a sub-controller for driving the second actuator; the main controller including: an actuator controller for computing a target drive amount for the first actuator to generate first control data including the target drive amount for the first actuator and for computing a target drive amount for the second actuator to generate second control data including the target drive amount for the second actuator; a first actuator driver for generating a first drive signal based on the first control data and providing the first actuator with the first drive signal to drive the first actuator; and a first input/output unit providing the sub-controller with the second control data; the sub-controller including: a second actuator driver for generating a second drive signal based on the second control data and providing the second actuator with the second drive signal to drive the second actuator; and a second input/output unit for providing the second actuator driver with the second control data from the first input/output unit, wherein the second input/output unit receives the second drive signal generated by the second actuator driver and provides the first input/output unit with the received second drive signal; and the main controller provides the first actuator with the first drive signal generated by the first actuator driver and provides the second actuator with the second drive signal from the first input/output unit.