| 摘要 |
PURPOSE:To surely regulate the operation range of a robot mechanically and like a software by providing a stopper operating an overrun sensor by abutting to a degree stop and a discriminating means discriminating whether or not a program point exists at the inside or outside of the boundary value corresponding to this sensor position. CONSTITUTION:The turning zone of an arm rotating shaft 4 is mechanically regulated by actuating an overrun sensor by the abutment of the degree stops 9a, 9b for regulating the arm turning zone having the overrun sensors 8a, 8b and stoppers 5a, 5b. Moreover, the boundary value corresponding to this overrun sensor 8a, 8b position is stored by a memory means 14, whether or not a program point or teaching point is located at the inside or outside of this stored boundary value is discriminated by a discriminating means 15, and the turning zone of the arm rotating shaft 4 regulated like a program. |
