| 摘要 |
<p>A robot controller having an expanded backward movement function. At the time of a forward movement in a movement program, the type of the order, the line number, the movement position of the robot, the I/O signal status before the order is practiced and values before the calculation order is practiced are stored as historical data. At the time of a backward movement, the data written in a history table are read in a backward direction, the type of the order is judged and the backward movement processing is executed in accordance with the judgment result. The separately taught backward movement exclusive order is read and practiced. If the order is a signal output order to a cooperating apparatus, the signal output order is practiced after the robot movement to the stored position is finished. The automatic reversing or the individual setting of the I/O signal is performed after the movement to the stored position is finished.</p> |
