| 摘要 |
PROBLEM TO BE SOLVED: To improve the work efficiency of a robot by shortening the substantial time required to disengage/connect a servo tool. SOLUTION: A command to move to a disengaging position of the servo tool is output (A1). During this travel, a stop command is output to an amplifier of the servo tool, a disconnection error of a power line and a signal line is nullified, and the nullification of a servo parameter is started (A2). The stop of power supply is confirmed (A3). The end of nullifying the disconnection error and nullifying the servo parameter is confirmed (A4). When the robot reaches the disengaging position (A5), the mechanical disengagement of the servo tool is performed (A6). Also in connecting the servo tool, software processing required for connection is performed in the process of the next travel after the mechanical connection. Thus, the software processing required to disengage/connect the servo tool is conducted during the travel of the robot, the disengage/connect processing for the servo tool can be performed in a short time to improve the work efficiency of the robot. COPYRIGHT: (C)2006,JPO&NCIPI |
