| 摘要 |
PURPOSE:To secure the working of a robot with high precision without using a special device by comparing the distance needed for deceleration with the deceleration enable distance to decide the speed variation in a deceleration mode. CONSTITUTION:A signal is supplied from a teaching device 4 via an operation key 2 of a robot controller 1. Then a robot main body 5 works according to said signal input to display the desired operating commands and data on a display screen 3. A position data display function module is added to the controller 1 together with a speed teaching function module and an acceleration teaching function module. These modules are called out by the device 4. The teaching points and the speed and acceleration between these teaching points are stored in a memory 6 connected to a CPU 7 of the controller 1. Then a servo command is given to a servo circuit 9 from the CPU 7, and an action end signal is supplied to the circuit 9. Thus a robot can be controlled with high precision without using a special device.
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