| 摘要 |
<p>PURPOSE:To improve the flexibility of a robot for transfer, etc. by adding a synchronizing position given from an external device to a playback target position to obtain a synchronizing target position and then defining this synchronizing position as a playback target position. CONSTITUTION:A robot main body 2 is actuated synchronously with a trolley conveyor 1 of an external device to put a parts 40 held by a robot hand 39 onto a hanger 10. The conveyor 1 delivers pulses through a pulse generator 12 in accordance with the revolving angle of a drive motor 11. At the same time, the conveyor 1 detects the hanger 10 and gives a command for start of synchronizing action via a switch 13. A robot controller 2 counts the pulses through a counter part 21 and calculates a target position, etc. through an arithmetic part 23. While the controller 2 actuates the body 3 through a position servo part 24. The synchronizing action is started with a synchronizing start command given when the switch 13 is turned on. Then a synchronizing target position is calculated by adding a shift distance of the part 21 to the target position set by the teaching data on a memory part 22.</p> |
