| 摘要 |
PURPOSE:To confirm correct positions so as to prevent modification errors by automatically returning a robot to the taught point just before the cancelling operation is made when a route is cancelled and another route is taught in the course of teaching of the teaching playback type robot. CONSTITUTION:The teaching operation of a robot torch 18 is made in such a way that the position and attiltude of the robot torch 18 is set by manually operating X, Y, Z, phi1, and phi2 axes and step teaching operations are made by setting the moving speed, interpolation modes, etc., on a teaching box 15. When points which have been taught are cancelled after teaching to a step corresponding to the position of P6, a cancelling button is depressed and data taught in step to the P6 are erased from a memory, and then, the teaching data of the previous step (position to P5) are set as the target value of the robot torch 18. Then route control is performed so that the robot torch can move to the position in linear interpolation by means of the X, Y, Z, phi1, and phi2 axes. |
