| 摘要 |
<p>PURPOSE:To make the teaching work easy by only designating a lattice point number to move the arm of a robot to an optional lattice point on a pallet. CONSTITUTION:A teaching device 1 outputs a moving signal for each shaft of the robot arm to a controller 2 by a jogging key 5 and outputs coordinate values and numbers of teaching points to the controller 2 by a point number designating key 4. The controller 2 receives them to calculate and store pallet parameters, and the controller 2 leads out pallet parameters from a storage part and calculates coordinate values of lattice points on the pallet and calculates the rotation number of each shaft motor on a basis of calculated coordinate values and outputs them to a robot body 3. The robot arm of the robot body 3 is driven by the rotation of each shaft motor, and position information is fed back to the controller 2 by an encoder attached to the motor.</p> |
