| 摘要 |
PURPOSE:To shorten locus correcting time by storing the correction data of the succeeding teaching point based upon a correction command signal in a memory at the time of working a robot by the working data of one teaching point. CONSTITUTION:A CPU 1 reads out the succeeding position data of a certain teaching point stored in the memory 2 and outputs deviation data obtained by subtracting a robot current value data counted by a current value counter 13 from the position data to a detector 5. When a correction command signal based upon the close of a correction switch 41 or 42 is inputted up to the period that a request command for the deviation data of the succeeding reaching point is outputted from the detector 5, an I/O device 3 stores the correction data of the correcting direction in the memory 2. When the request command for the deviation data of the succeeding teaching point is outputted from the detector 5, the CPU 1 adds the correction data of the succeeding teaching point read out from the memory 2 to the deviation data and outputs the added data to a servo circuit 6. Since the locus of the robot can be corrected during the working of the robot, the time required for the correction can be sharply shortened.
|
