| 摘要 |
<p>PURPOSE: To allow the system to cope with the control of operation of a peripheral equipment quickly at all times by controlling the operation of the peripheral equipment after sure connection of a command means commanding control enable or control stop in one operation for the peripheral equipment is confirmed. CONSTITUTION: When a control mode transfer section 15 receives an operation control command of a robot main body from a command discrimination section 11, the section 15 outputs a confirmation command of a connection state between an operation box 30 and a controller 10 to a connection confirmation section 14. Then the connection confirmation section 14 receives the confirmation command of the connection state from the control mode transfer section 15 and provides an output of the connection end signal to the control mode transfer section 15 when the operation box 30 and the robot controller 10 are connected by a cable 31. When the control mode transfer section 15 receives the connection end signal from the connection confirmation section 14, the section 15 transfers the mode of the robot main body to the operation control mode by an operation control command by the robot main mode and provides the operation control command from the robot main body to a control discrimination section 18.</p> |
