Title:
CONTROL METHOD OF ROBOT FOR WELDING WORK
Document Type and Number:
Japanese Patent JP3821404
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To reduce useless time by performing arithmetic control on synchronism of the completion of operation order practice and the practice of a welding starting or finishing work order so as to precede by designated time.
SOLUTION: A work program interpreting part 6 reads out a designated program from a work program file 7. For example, an MOVEP order is added to an orbit planning part 8, and an ASTAR order is added to a welding command part 9, and a synchronous number is added to the respective ones, and they are delivered. The orbit planning part 8 makes an orbit plan on the basis of the MOVEP order, and target position data outputted at the time traced back by useless time is calculated on the basis of a welder control parameter 10 so as to correspond to a preceding term synchronous number. A servo output part 18 outputs servo output data associated with the synchronous number, and informs the welding command part 9 of the synchronous number. The welding command part 9 performs welding by outputting a welding condition and a welding starting command on the basis of notice of the synchronous number from the servo output part 18. Therefore, useless time in a system can be reduced.
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Inventors:
Kunihiko Sugimura
Junichi Nakamoto
Junichi Nakamoto
Application Number:
JP6721997A
Publication Date:
September 13, 2006
Filing Date:
March 04, 1997
Export Citation:
Assignee:
Daihen Co., Ltd.
International Classes:
B23K9/12; B25J9/16; B23K9/067; B25J13/00; G05B19/18; (IPC1-7): B25J13/00; B23K9/12; B25J9/16; G05B19/18
Domestic Patent References:
| JP7136775A | ||||
| JP550238A |
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