| 摘要 |
PROBLEM TO BE SOLVED: To surely avoid the interference with an object such as an obstacle by regulating operation areas of a robot. SOLUTION: Operable ranges of a plurality of shafts JT2-JT5 are preset and stored in an operable range memory for each of a plurality of operation areas R11-R13 of a robot to judge whether or not the operational position of each shaft read from an encoder or a teaching memory for each shaft is set in the operable range memory. The respective operation areas R11-R13 of one independent area U1 are partially common to each other, or brought into contact with each other, and thus, continuous to each other. The interference can be judged over a plurality of operation areas R11-R13 without intervention of an operator.
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