| 摘要 |
PURPOSE:To provide the laser machine for which it is not necessary to teach a robot again even when working speed is changed. CONSTITUTION:First of all, the teaching the robot is executed while setting an inclining angle thetai to a plane 2a to be worked of a laser head 20 to 0 deg.C, and the data of respective teaching points P1, P2...Pn are stored in the teaching data storing means of a memory at a control unit. On the other hand, accelerating speed is inputted from an input keyboard and the inclination angle thetai of the laser head 20 optimum for this accelerating speed is calculated by an optimum inclination angle calculating means in the control unit. Corresponding to this inclination angle, the teaching data stored in advance are corrected by a teaching data correcting means in the control unit. Then, the corrected data are interpolated by an interpolating means, the move of the robot is controlled, and the laser work of an object 2 to be worked is executed by the laser head 20. |
