| 摘要 |
PROBLEM TO BE SOLVED: To easily teach a work carrying robot in a short time. SOLUTION: A work carrying robot R moves a robot main body so as to travel on the (x) axis (the traveling axis), and can extend/contract a hand H to a turning shaft 3 by rotating the turning shaft 3, a first shaft 4 and a second shaft 5. A work W such as a glass substrate is placed on a hand H so that the work W is carried to the other cassette from a cassette 20 by controlling traveling operation and extending/contracting operation in combination with each other. When teaching the work carrying robot R, first of all, only a position and the direction of the hand H are initially taught, and respective shafts are controlled in driving by pushing down a normal posture indicating button to be moved to a normal posture. Thus, the center x1 of the turning shaft 3 in an initial teaching state moves to x2, a distance between a point P and the center of the turning shaft 3 become r2 from r1, and is automatically taught to the normal posture where the access direction of the work carrying robot R coincides with the initial teaching direction of the hand H while maintaining the position and the direction of the hand H. |
