| 摘要 |
PURPOSE:To improve the shape of a pole at the home position and the degree of freedom of the set of the operating position, and to expand the utility of general purpose, by returning an arm of a robot to the home position after moving the arm via the 1st operating position or a tentative home position determined suitably, in returning the arm from plural number of operating positions to the home position. CONSTITUTION:In returning the arm to the home position at an operation panel 12, when many operating programs of the robot exist, the program number in operation at present is decided at a program number deciding circuit 21. Further, a preset tentative home position is indicated to a process count indication circuit 19 with a home position returning process storage set circuit 22, a position data of the tentative home position stored in an operating position storage circuit 18 is outputted and a motor 15 is activated to the tentative home position via a deviation detection circuit 20. After the end of operation up to the home position is confirmed and decided at a robot centralized control circuit 13, a full home position operating circuit 23 is operated to output the home position data to the circuit 20 and to drive the motor 15, allowing to operate the arm 1 to the home position. |
