LEAD-THROUGH TEACHING METHOD FOR HORIZONTAL MOVING TYPE ROBOT

摘要

PURPOSE:To shorten the teaching process by supposing vertical direction position data of the other horizontal plane, and setting and registering it so that the same robot operation program can be performed repeatedly in plural horizontal planes, at the time of execution in the horizontal plane. CONSTITUTION:By holding a wrist 24 or an end effector 26 by a handle 30, the robot is moved directly in a horizontal work plane of a selected reference along a desired work route. Data of a necessary teaching point position on the work route is brought to lead-through teaching in advance to a robot controller 34 through an interface by operating an input means provided on the handle 30. Also, as for the other work horizontal plane, it is stored in the controller 34 by a method for only setting and registering the position data in the vertical direction of the respective horizontal work planes as data of the offset quantity from the reference horizontal plane with respect to the vertical position of the reference horizontal work lane. In such a way, the same robot operation program as the reference work horizontal plane is performed by other horizontal work plane.