(19)

(11)

EP 0 629 935 A1

(12)

(43) Date of publication: 21.12.1994 Bulletin 1994/51 (21) Application number: 93924823.0 (22) Date of filing: 11.11.1993

(51) International Patent Classification (IPC):  G05B 19/ 4069( . ) (86) International application number: PCT/JP1993/001669 (87) International publication number: WO 1994/014109 (23.06.1994 Gazette 1994/14)

(84) Designated Contracting States: CH DE IT LI (30) Priority: 08.12.1992 JP 19920327780 (71) Applicant: FANUC LTD. Minamitsuru-gun, Yamanashi 401-05 (JP)	(72) Inventors: SHINOZAKI, Satoru Ibaragi 308 (JP) MIYAZAKI, Masaki, Fanuc Dai-3 Villa-karamatsu Minamitsuru-gun, Yamanashi401-05 (JP) (74) Representative: Brunner, Michael John, et al  GILL JENNINGS & EVERY Broadgate House 7 Eldon Street London EC2M 7LH London EC2M 7LH (GB)