METHOD OF TEACHING AND REPRODUCING OPERATION PROGRAM FOR AN INDUSTRIAL ARTICULATED ROBOT

摘要

A method of teaching and reproducing operation program for an articulated robot that carries out the operation depending upon the load conditions. A ROM (24) of a robot controller (20) stores a plurality of data tables that determine speed values and acceleration values corresponding to an operation range of articulate drive motors (M theta , MV) depending upon the load weight. The ROM (24) further stores a maximum load inertia determined for the wrist drive motors (M alpha , MZ) and the corresponding servo gain value. In the step of teaching the operation program, the operator sets the load weight as well as load inertia at the time of registering the operation program from a start point to an end point. At the time of reproduction, the corresponding speed value, acceleration value and servo gain are read from the ROM (24) and are automatically set to the servo unit (34).