| 摘要 |
PURPOSE:To teach a robot operation easily and in a short time and also to make it unnecessary to teach it many times by obtaining a point data by inputting a corresponding relation of a sequence number and a point, and using it as a teaching data. CONSTITUTION:A data processing unit DPU inputs a corresponding relation of a sequence number Ni and a point number Pj of a point specified by this robot command data, and stores it in a base program memory SPM. Thereafter, when a jog button on a teaching operation board TB is pressed down, a jog feed command JFC is outputted to a pulse distributor PDC from the unit DPU. The distributor PDC generates distributing pulses RP, ZP and thetaP to a commanded shaft, rotates a servo-motor, and moves a robot toward an actual position. In case of a regenerating mode, the number Ni and a code are read out of a robot command data storage area RCM, the number Ni is converted to a point number by use of a correspondence table, its position data is read out of a point storage area PPM, and by this data, the robot is moved. |
