Robot restarting method
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorKoji Doi
Life of this patent
Estimating the term…
Abstract
When an emergency stop button 12 is pressed after a robot 1 passes a teaching point PN, and then reach a position PE, the robot 1 is stopped at a position P5 diverted from the predetermined teaching route L. When the start button is pressed next, the robot 1 moves at a speed VL lower than a teaching speed Vt until it reaches a next first teaching point PN+1. Passing first teaching point PN+1, the robot 1 moves at the teaching speed Vt. The robot 1 moves at the low speed VL at a restarting time, so that an operator can check for interference between the robot 1 and the workpiece W. Passing the next first teaching point PN+1, the robot 1 moves at the teaching speed Vt, so that the reduction of the operation efficiency can be prevented.
Claims10
A robot restarting method for restarting a robot after the robot moving at a predetermined teaching speed along a teaching route passing a plurality of preset teaching points is stoppet at a stop position during movement, comprising:
- a step of restarting said robot and
- a low speed moving step of moving said robot at a lower speed than said teaching speed until said robot reaches a next first reaching point of stop position.
Dependencies are inferred from the claim text.