| 摘要 |
<p>A method of and an arrangement for controlling an industrial robot (RBT) having a plurality of controlled axes, of the type which performs services based on a robot service program. The method includes setting a reference point (PW) for at least one controlled axis of the industrial robot (RBT), which reference point (PW) differs from the position of a mechanical zero point (Pr) on the controlled axis, discriminating whether the industrial robot (RBT) has arrived at the reference point (PW), and generating a prescribed signal when the industrial robot (RBT) arrives at the reference point.</p> |
