CONTROL METHOD OF INDUSTRIAL ROBOT

摘要

PURPOSE:To avoid the working interference among plural robots by providing the areas which cannot be executed simultaneously to a part of the control program of each robot and providing a control program to make said part of the control program perform the interference actions. CONSTITUTION:Plural flag registers 5, 6-(only a register 7 shown in the diagram) are provided between control parts 2 and 4 of robots 1 and 3 respectively. An output terminal 8 of the part 2 supplies input to an AND 16 through an input terminal 9 of the 7th register. The output of the AND16 is fed back to its own end terminal 10 and also supplied 19 with inversion to an AND17 of the other end. While the output of the AND17 of the other end side is supplied with inversion to the terminal 18 of the other side of the AND16. When either one of parts 2 and 4 registers a flag, the register of the other part is inhibited. Thus the robot work is permitted only at one side of the area related to the register 7 and inhibited at the other side. Thus the robots can perform their jobs with safety and without mutual interference.