| 摘要 |
<p>PURPOSE:To prevent the whole operation from being stopped and delayed by putting the operation of a robot in partial charge of other circumferential robots if the robot stops functioning or if its operation is delayed. CONSTITUTION:Controllers C1 and C5 input an abnormality signal from a robot R2 through an input/output interface 12, and abnormality processor 11 judges the input of the abnormality signal to perform operation alternation processing for putting the operation of the robot R2 in partial charge when the robot R2 stops functioning. Consequently, the whole operation is carried on without being stopped. If the operation of the robot R2 is delayed, the main control procassor 2 of the controller C2 of the robot R2 judges whether the operation is completed within a standard reference time or not. Then, the operation delay signal of the robot R2 is outputted to controllers C1, C5, and C6 through signal transmission cables 41-43, and the respective controllers decrease the specific amounts of operation according to the operation delay time of robot R2.</p> |
