| 摘要 |
PURPOSE:To speed up processing by selecting only motion to be started next out of combination of motion executing at present and motion that can follow by teaching data based on the motion executed at present and storing in a memory. CONSTITUTION:A controlling device 39 is controlled by the data of a robot motion teaching data memory 38, and robots 40, 41 are driven. Such machinery is controlled by a general controlling device 30 through a motion controlling table 32, a synchronous exclusive step definition table 33, a controlling message table 34 etc. stored in a general controlling memory 31. For instance, only teaching data to be executed next are selected out of plural motions that can follow presently executed motion for a robot 40 according to teaching data and stored in a memory 38, and as soon as present motion is completed, shifted to new motion. Thus, waiting time for start judging becomes unnecessary, and working time can be shortened as a whole. |
