| 摘要 |
<p>PURPOSE:To shorten a time for teaching by a method wherein a memory, accommodating a motion program capable of effecting respective holding motion routines of inside tightening and outside tightening selectively, is equipped and the memory is constituted so as to be capable of commanding said respective motion routines selectively. CONSTITUTION:The handling robot 1, holding a work and carrying the work into and out of a machine tool, is provided with a main control unit 10 while the main control unit is connected with a drive control unit 11, a teaching data memory 12, a key board 13, an indication control unit 15, a motion program memory 16, a proper motion memory 17, a shaft moving amount memory 20 and the like through a bus wire 14. In this case, the motion program, at least one of which is consisting of more than two motion steps and capable of effecting respective holding routines of inside and outside tightenings selectively, is accommodated in the memory 16. The mode of holding the work can be commanded by operating a holding motion commanding key 13b on the key board 13.</p> |
