| 摘要 |
<p>A method of creating an operation program easy to understand, and of executing the operation program simply. When creating a program (20), in addition to such ordinary operative statements as 'each axis position [1] 100 % alignment', macro names are used. For example, in the fifth line a macro name 'hand close' is used, and in the tenth line a macro name 'hand open' is used. According to macro programs fetched under such macro names, a robot (100) performs the opening and closing operations of a robot hand (102). In this manner, macro programs are given macro names representing their uses, etc., and an operation program is created using the macro names. Therefore, the creation of the program (20) is easy for the creator. The operation program (20) is easy for the operator to understand at a glance.</p> |
