| 摘要 |
PURPOSE:To input the size of a processed objective by a drawing, in case of input with numerical control, by shifting a robbot absolute coordinate to an offset coordinate and correcting the offset amount. CONSTITUTION:The content of memories 15, 16 is converted to the 1st coordinate in the order of moving point taught respectively at a robbot absolute coordinate converting circuit 19. Further, the robbot is driven by driving motor 22, 23 via a servo amplifier 21 at a position command instruction circuit 20 from the output. In correcting the offset, whether or not the taught moving point exists in the working range of robbot is confirmed from the content of the memories 15, 16. After the confirmation, the offset value after the correction of the memory 15 is stored. Thus, in inputting with numerical control, the processed objective size is inputted by a drawing. |
