| 摘要 |
PURPOSE:To avoid the collision between a robot performing a PTP action and its peripheral device by performing the simultaneous start/stop actions for all action shafts. CONSTITUTION:A CPU 13 calculates the moving time of each action shaft from the moving amounts given from a feed speed buffer 35 and a moving amount buffer 33. The maximum one of these calculated moving times is stored in a maximum consumption time buffer 37 as the maximum consumption time. This maximum consumption time is set with all related action shafts. The moving amount is read out of the buffer 33 for each action shaft and the moving speed of each shaft is decided in relation to said maximum consumption time and stored in the buffer 35. Thus all action shafts start and stop operations at a time. Therefore a robot moves in a locus equal to that of a teaching mode. This can avoid the collision between the robot and its peripheral device.
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