ROBOTSUTOTEISUNOJIDOHOSEIHOHO

摘要

PURPOSE:To compute a setting error of a constant of each axis required for the auxiliary operation of a robot and a setting error of tool offset with a program and to correct automatically the errors by teaching optional point of a 3-dimensional space to a robot in plural attitudes so as to obtain a tool tip coordinate. CONSTITUTION:A tool 3 suitable for the purpose is fitted to a 5-axis joint robot 1. Then teaching is applied to the robot 1 through a teaching device 7 so that the tip 4 of the tool 3 is coincident with a predetermined point. The attitude of each axis in this case is tored in a storage device 6 in a controller 5. The operation teaching the same point with plural different attitudes is repeated. In executing a program correcting the constant and tool offset next, the constant and tool offset are corrected automatically to an accurate value from the attitude of each axis, the initial setting constant and tool offset. Further, it is not required to make the operation again only after one setting so long as the tool is not replace.