| 摘要 |
PURPOSE:To reduce remarkably a burden of an operator by preparing a subroutine for adjusting a projecting length of a wire on the way of welding, and executing it automatically after generation of a temporary stop in case of detecting a start end. CONSTITUTION:A welding robot for welding a weld line in accordance with a program is made to prepare a subroutine, and when a welding torch 10 is stopped temporarily by various factors when a search operation is being executed, the subroutine is executed once automatically. Said welding robot makes the torch 10 execute a search operation from a search start point P10, and basing on a contact of a welding wire 12 and a work 11, a start end of the weld line is detected automaticaly. Also, said subroutine moves the torch 10 to a prescribed position from the temporary stop point, adjusts a projecting length of the wire 12, moves it to the start point P10 again, and starts the search operation. |
