| 摘要 |
PURPOSE:To shorten operation time by providing a controlling device to control a teaching playback type industrial robot with a means to change speed during the execution of program reproduction without complex operation. CONSTITUTION:A memory MEM of a control device 3 is previously provided with a means to find out the moving distance tXS1 of straight movement at the previously set time (t) from the initial speed S1 and find out notched rate N [=A/(tXS1)] in every moving distance to the difference A between both teaching positions Pa, Pb, a means to find out command position Pi [=(N-i)Pa+iPb/N] (provided that (i) is the number of pitches from the position Pa) between both positions Pa and Pb in every time (t), a means to discriminate the existence of the specification of speed change, and a means to find out notched rate Nnew in every moving distance to the difference of positional information between the changed command position Pi0 and the position Pb when the speed is changed, replace said N by the Nnew, replace the position Pa by the position Pi0, and reset the notched rate (i) to ''0'' to execute the prescribed operation. |
