| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot system which can easily and correctly teach a circular interpolation operation of a robot when bending a work-piece while holding the work-piece by the robot.SOLUTION: A user coordinate system 46 for regulating a rotation axis of a bending operation in a bending process is set in such a manner that an operator inputs a position and an angle of each axis of a robot 14 for a teaching operation board 30. Next, within a teaching program of the robot 14, a processing start and an operation form are defined so as to add a bending command and designate a rotation angle of bending and an angular speed of a command line around the rotation axis, whereby an internal program for causing the robot to execute a circular interpolation operation is generated in a robot control part 26.SELECTED DRAWING: Figure 1 |
