| 摘要 |
<p>PURPOSE:To control a robot without malfunctions, by discriminating whether the robot exists in a preliminarily prescribed position, for example, in an operation reference position or not and generating a prescribed signal when it exists in this position. CONSTITUTION:When a robot service request signal RSR1 is inputted from a machine tool MC1, an operation processing part 101 reads out robot operation data successively from a teaching memory 103 to start the control. When the robot service is completed and the robot is returned to an operation reference position Pw, an operation reference point return completion signal is generated. Next, when the service request signal is inputted from a machine tool MC2 or MC3 is inputted, the operation processing part 101 checks whether the operation reference point return signal is generated or not. If this signal is generated, the robot control is started. Thus, the return of the robot to the operation reference point is confirmed to control the robot without malfunctions.</p> |
