| 摘要 |
PURPOSE:To shorten teaching time with good accuracy by editing the data relating to a melting decision processing stage by an editing device in advance for instruction reference point data and transferring the data thereof to a robot controller. CONSTITUTION:The teaching of the position of the welding start teaching start reference points a0, b0, c0 and d0 in MIG spot is executed by actually operating a robot 20 by using a teaching box 14. The edition is arranged with corresponding to the teaching reference point and the coordinate value of a selected weaving spot pattern welding start point by selecting based on the position, thickness, etc., of a work those which are regarded as the optimum among the parent job of the coordinate value of the teaching reference points a0, b0, c0 and d0 thereof and the child job of the weaving spot pattern data made by a step. The edited program data thereof are converted into the robot coordinate from the coordinate conversion of the program editing device 12 and stored via a relay 32 into the memory of a robot controller 18 as the robot working data.
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