| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot main unit having movable parts operated by fluid pressure cylinders such as air cylinders allowing easily an operation to perform a returning operation by fluid pressure cylinders when the robot main unit is returned to a former position after operated in the order written in an operating program, and permitting a next operation after the completion of the returning operation is confirmed automatically so as to increase a safety. SOLUTION: A sensor to detect that a movable part using a fluid pressure cylinder as an operating source reaches the end point of one directional operation and the end point of the other directional operation is provided, and a robot main unit is operated by one step in the order reverse to that covered in an operating program when a mode capable of operating the robot main unit in the order covered in the operating program or in the order reverse to that covered in the operating program in increments of one step to a taught operating point. When the operation is performed by the returning operation of the fluid pressure cylinder, the operation to the other operating point is allowed after it is detected by the sensor that the movable part arrives at the end point in its returning direction by the returning operation of the fluid pressure cylinder.
|
