| 摘要 |
<p>PURPOSE:To improve the reliability of an industrial robot by providing waiting state, temporary stopping (automatically recovery enable)state, manually recovery temporary stopping state, and emergency stopping state as suitable robot body operations in response to the state of mechanical side. CONSTITUTION:In an industrial robot system consisting of an industrial robot ROB including a robot body RBB, a robot controller CONR, and an operation panel OP, and a machine tool or the like MT for service object, the machine tool MT can generate a weight signal WAIT, an inhibit signal INH, a hold signal HOLD, and emergency stop signal ESTOP in response to the operating state. The controller CONR makes the robot body RBB in waiting state until the signal WAIT is eliminated if there is existed the signal WAIT at the WAIT check instruction producing point, and until the signal INH is eliminated if there is produced the signal INH during the robot body RBB operation.</p> |
