| 摘要 |
<p>PROBLEM TO BE SOLVED: To execute continuous teaching, by preventing a wire from bending, by automatically releasing a contact state, when a welding wire and a workpiece that is a welding object contact in teaching.SOLUTION: In a control method of an industrial robot having a welding torch for inserting a welding wire and operating based on a taught program, when detecting contact between the wire projected from the welding torch and a welding object in teaching, the contact between the wire and the welding object is released by inversely feeding for feeding the wire in the separating direction from the welding object, and the wire is normally fed by the same length as the inversely fed length after moving the welding torch in the separating direction from the welding object.</p> |
