| 摘要 |
<p>PURPOSE:To allow a working position in the case of a play back to coincide with a working position in the case of teaching irrespective of a change in a conveying speed, by deciding a timing, which operates a robot for the work which has been conveyed to an entrance of a working section, according to a pulse counting value which synchronizes with a conveying speed. CONSTITUTION:When a work 9 arrives at a work detector 10, a controller 15 starts (mg) to count a pulse which synchronizes with a rotative speed. In the case of teaching, an operator closes a teaching switch 13 and starts a teaching when the work 9 reaches a given position. When the teaching switch is closed, the controller 15 stops counting the aforesaid pulse, and also stores a counting value. In the case of a play back, the controller 15 decides a work starting timing for a robot according to the aforesaid counting value.</p> |
