| 摘要 |
PURPOSE:To eliminate the need for an operation of setting the speed between respective points and to reduce teaching time by setting successively the positional data at each point regulating a moving course thereby setting automatically the moving speed between the respective teaching points. CONSTITUTION:A teaching box 38 is first operated and the positional data at points such as a reference position, welding preparation position, welding start position, welding end position, etc. are successively inputted thereto in order to teach the operation of a robot. The positional data are stored in a storage part 26 and a robot body is servo-controlled in accordance with the positional data. The distance from a certain teaching point to the succeeding teaching point is calculated by an arithmetic part 20 in said stage and the distance data thereof is made input to a speed table 22. The speed data corresponding to said distance is read from the table 22 and is applied to a servocontrol part 28. The part 28 operates in accordance with the speed instruction value to move a welding torch at the instructed speed. |
