| 摘要 |
PROBLEM TO BE SOLVED: To solve a problem caused when performing jog feed of a robot by a jog dial, wherein an operator, depending on his degree of skill, feels as if the robot is continuously moving regardless of rotation operation that has been stopped, and may determine that the responsiveness and operability are inferior.SOLUTION: A robot control device includes a command generation means for generating a jog feed command including a movement amount and a movement direction of the robot with rotation operation information comprising a rotation amount and a rotation direction detected upon operation of a jog dial as input, an operation control means for performing motion control of the robot with the jog feed command as input. The command generation means, when the jog dial is operated for rotation, if the jog feed is already on the way, whether or not the direction is same with a previous rotation direction is determined, and if the directions are same, ignores the rotation operation information, or if the directions are not the same, stops the robot. The responsiveness and operability during jog feed operation by the jog dial can be enhanced. |
