초록 ▼

A robot control apparatus having an expanded and improved backward operation function. During forward operation according to an operation program, command types, line numbers, robot positions, I/O signal states before execution of related commands, and values before execution of computation commands

A robot control apparatus having an expanded and improved backward operation function. During forward operation according to an operation program, command types, line numbers, robot positions, I/O signal states before execution of related commands, and values before execution of computation commands are stored in a history table. In the backward operation, the data written in the history table is read backward, command type discrimination is made, and backward operation processing is executed in accordance with the result of discrimination. For backward operation dedicated commands, a separately taught backward operation dedicated command is read and executed. If, however, the read command is a command to output a signal to a cooperative device, the signal output command is executed after completion of the robot motion to the stored position. For I/O commands, I/O signals are automatically inverted or are individually set after the motion to the stored position is completed.

대표청구항 ▼

[ What is claimed is:] [1.]1. A robot control apparatus for controlling a robot and a cooperative device for cooperation with said robot, comprising:first storing means for storing an operation program including at least one statement for specifying an operation of said robot and at least one statem

[ What is claimed is:] [1.]1. A robot control apparatus for controlling a robot and a cooperative device for cooperation with said robot, comprising:first storing means for storing an operation program including at least one statement for specifying an operation of said robot and at least one statement for specifying an operation of said cooperative device;forward operation processing means for performing processing of operating said robot and said cooperative device forward in accordance with said operation program;second storing means for storing history data of the forward operations of said robot and said cooperative device when said forward operation processing is performed;backward operation processing means for performing processing of operating the robot backward so that history of the forward operation of said robot is retraced based on said history data stored in said second storing means; andmeans for selectively setting one of continuous mode and step mode for said backward operation.