| 摘要 |
PROBLEM TO BE SOLVED: To eliminate necessity for determining a passing speed by an operator, by automatically setting the passing speed so as to be decreased in the case of large degree of flection, on the other hand, increased in the case of small degree of flection. SOLUTION: A possible range of a flection angleθis divided in four, in a teach point P2 , a relational expression ofθand V is set so that V is 100% without changing a value of V in the case ofθ=-π,πand V is 0 in the case ofθ=0 changing a direction at maximum 180 degrees. In this way, when a graph and formula displaying a relation ofθand V is obtained, an actual flection angleθformed by V1 , V2 is substituted, a value of passing speed V in P2 is calculated. When a value of V is determined, a relation of time and speed V is drawn in graph, each teach point P1 , P2 , P3 is displayed, a speed leading from P1 to P3 is displayed, and a passing speed V3 in the case of passing P2 is displayed.
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