| 摘要 |
PURPOSE:To increase the robot operation time of one operation cycle by moving a robot from the 1st origin to the 2nd origin once the facilities are actuated to make preparations, and starting the robot operation at the 2nd origin after the preparations are made. CONSTITUTION:The facilities are actuated at time t1, the drive command for the movement from the 1st origin to the 2nd origin is sent to the robot at time t2, and the robot is moved from the 1st origin to the 2nd origin between the time t2 and time t3 and stands by there. When the setting of a work is completed by the facilities actuated at t1-t4, the decision on whether the operation of the robot is necessary or not is made, and when so, the command for actuation at the 2nd origin is supplied to the robot at time t4 to perform various operations by the robot at t4-t6. Then only the robot is moved to the 1st origin at t6-t7 after the all operations are completed at t6. |
