| 摘要 |
<p>PURPOSE:To attain a teaching work simply in a short time without mistake by representing a plurality of robot service codes with a macrocode. CONSTITUTION:After the end of teaching work, the reproduction mode is taken. In the reproduction mode, when a robot service request signal RSR is generated from a machine tool, a robot controller RBC reads out a robot command data from a teaching memory TPM and executes the processing in accordance with the data for the execution of the specified service to the robot RBT. When the macrocode is read out from a memory TPM, a processing unit PU discriminates the code, reads a robot service code in response to the macrocode from a corresponding table MCT and sets the result to a work memory WKM. After the end of all the processings to the macrocode, the robot command data is read out of the memory TPM again and the similar processings are done afterward.</p> |
