Control method and robot system
AssigneeSeiko Epson Corporation
InventorYoshihito Yamada
Life of this patent
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Abstract
A control method for a robot system having a robot arm and executing an operation mode of the robot arm having an execution mode in which a motion program is executed and a teaching mode in which the motion program is taught, includes setting an upper limit velocity of a motion velocity of the robot arm to a first velocity when the operation mode is the execution mode, and setting the upper limit velocity to a second velocity lower than the first velocity when the operation mode is the teaching mode.
Claims11
A control method for a robot system having a robot and a robot arm for causing a processor to execute a process, the control method comprising executing on the processor the steps of:
- acquiring an operation mode of the robot, the operation mode having an execution mode in which a motion program is executed and a teaching mode in which the motion program is taught;
- executing the operation mode of the robot;
- determining whether an object detection sensor is coupled to the robot system, the object detection sensor detecting an object approaching the robot;
- setting an upper limit velocity of a motion velocity of the robot arm to a first velocity when the acquired operation mode is the execution mode and the processor determines that the object detection sensor is not coupled to the robot system;
- and
- setting the upper limit velocity to a second velocity lower than the first velocity when the acquired operation mode is the teaching mode and the processor determines that the object detection sensor is not coupled to the robot system.
A robot system comprising:
- a robot having a robot arm;
- and
- a processor configured to be programed to:
- acquire an operation mode of the robot, the operation mode having an execution mode in which a motion program is executed and a teaching mode in which the motion program is taught;
- execute the operation mode of the robot;
- determining whether an object detection sensor is coupled to the robot system, the object detection sensor detecting an object approaching the robot;
- set an upper limit velocity of a motion velocity of the robot arm to a first velocity when the acquired operation mode is the execution mode and the processor determines that the object detection sensor is not coupled to the robot system;
- and
- set the upper limit velocity to a second velocity lower than the first velocity when the acquired operation mode is the teaching mode and the processor determines that the object detection sensor is not coupled to the robot system.
Dependencies are inferred from the claim text.