| 摘要 |
PROBLEM TO BE SOLVED: To suppress power consumption of a robot attached to a machine tool by stopping the robot while the machine tool performs working of a workpiece. SOLUTION: A numerical control apparatus determines whether or not workpiece change completion is notified, and when the workpiece is correctly attached, notifies a robot control device of a stop command and performs working of the workpiece (CA1-CA4). Then, whether or not it is before the end of the working of the workpiece is determined, and when it is before that, a stop cancellation command is notified to the robot control device, and a workpiece change command is notified at the end of the working (CA5-CA8). The robot control device performs the change when there is the workpiece change command, and outputs the notice of the workpiece change completion to the numerical control apparatus (RA1-RA3). When there is the stop command from the numerical control apparatus, a brake is turned on and servo motor excitation is turned off (RA4-RA6). Also, when there is the stop cancellation command from the numerical control apparatus, the servo motor excitation is turned on, and the brake is turned off (RA7-RA9). COPYRIGHT: (C)2010,JPO&INPIT
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