| 摘要 |
PURPOSE:To facilitate the restarting of a robot, by storing the position data of each working element of the robot into an auxiliary storage circuit and securing an automatic reset based on the position data from the restarting position after the discontinuation to the stop position. CONSTITUTION:The working extent of a robot is calculated at a control part from the data read based on a program given from a main storage part 3, and the result of calculation is supplied to register 4. The robot main body 6 is worked by the command given from the register 4 via a driving part 5. The working of the robot is successively transmitted to a present position register to be stored in the form of an absolute position of the robot. If the working of the robot is discontinued by some reason, the stop button is pushed on an operation board 1 to write the absolute coordinates at the moment of discontinuation into an auxiliary storage circuit 8 by a command given from the part 2. Then the robot is manually shifted to the position where the repair and inspection are easily carried out, and then the factor of stoppage is eliminated to give a command for the restarting. At the part 2, the data on the position of discontinuation is read out of the circuit 8 to reset the robot. When the robot returns to the data position of the circuit 8, the data of the part 3 is read to start an automatic operation. |
