公开(公告)号：EP0785492A4

公开(公告)日：1997-10-15

申请号：EP96926608

申请日：1996-08-08

申请人： FANUC LTD

发明人： KOSAKA TETSUYA ,  TAKAHASHI HIROMITSU

IPC分类号： B25J9/18 ,  B25J9/22 ,  G05B19/425 ,  G05B19/42

CPC分类号： G05B19/425 ,  G05B2219/50048 ,  G05B2219/50356

摘要： The point of a tool is moved to a start point A of a route AB, designated as the X axis (XAB). A robot controller is set for a nonperpendicular 3-axis system, in which the Y axis (YAB) is perpendicular to the X axis and the Z axis (Zf: the axis of the tool). With this coordinate system selected by a jogging control, the tool angle can be adjusted with X-associated keys, while an advance angle of the tool can be adjusted with Y-associated keys.

公开(公告)号：EP0852985A4

公开(公告)日：2000-01-19

申请号：EP97927449

申请日：1997-06-24

申请人： FANUC LTD

发明人： WATANABE ATSUSHI ,  ITO TAKAYUKI ,  KOSAKA TETSUYA ,  NISHI HIROJI ,  TAKAHASHI HIROMITSU

IPC分类号： B23K9/167 ,  B23K9/095 ,  B23K9/10 ,  B23K9/12 ,  B23K9/127 ,  G05B19/4093

CPC分类号： G05B19/40937 ,  B23K9/0953 ,  B23K9/1062 ,  B23K9/127 ,  G05B2219/35569 ,  G05B2219/45135 ,  Y02P90/265

摘要： An arc welding method by which welding conditions such as the welding speed, the voltage and the current can be varied easily. A starting point at which the change of the welding conditions, i.e., the welding speed, voltage and current, is started and a finishing point at which the change of the conditions is finished are taught, and the welding speeds, voltages and currents at those starting and finishing points are determined. At the starting point, the welding is started at the welding speed, voltage and current which are set as the conditions at the starting point and the welding conditions are gradually changed so as to reach, at the finishing point, the welding speed, voltage and current which are set as the conditions at the finishing point. Only by setting the positions of the starting point and finishing point and the welding conditions at the positions, the welding conditions can be gradually changed while a welding torch is moved from the starting point to the finishing point, so that the welding conditions can be varied easily.

公开(公告)号：EP0590154A4

公开(公告)日：1994-06-15

申请号：EP93905636

申请日：1993-03-11

申请人： FANUC LTD

发明人： WATANABE ATSUSHI ,  ITO TAKAYUKI ,  TAKAHASHI HIROMITSU

IPC分类号： B25J9/16 ,  B25J9/22 ,  B25J13/06 ,  G05B19/4093 ,  G05B19/4155 ,  G05B19/405

CPC分类号： B25J9/1658 ,  G05B2219/35256 ,  G05B2219/35257 ,  G05B2219/35258 ,  G05B2219/35262 ,  G05B2219/36162 ,  G05B2219/39431 ,  G05B2219/40006

摘要： A method of creating an operation program easy to understand, and of executing the operation program simply. When creating a program (20), in addition to such ordinary operative statements as 'each axis position [1] 100 % alignment', macro names are used. For example, in the fifth line a macro name 'hand close' is used, and in the tenth line a macro name 'hand open' is used. According to macro programs fetched under such macro names, a robot (100) performs the opening and closing operations of a robot hand (102). In this manner, macro programs are given macro names representing their uses, etc., and an operation program is created using the macro names. Therefore, the creation of the program (20) is easy for the creator. The operation program (20) is easy for the operator to understand at a glance.

摘要翻译： 创建易于理解的操作程序的方法，以及简单地执行操作程序。 当创建程序（20）时，除了“每个轴位置[1] 100％对齐”的常规操作语句之外，还使用宏名称。 例如，在第五行中，使用宏名称“手关”，并且在第十行中使用宏名称“手打开”。 根据在这样的宏名称下取出的宏程序，机器人（100）执行机器人手（102）的打开和关闭操作。 以这种方式，宏程序被赋予表示其用途等的宏名称，并且使用宏名称创建操作程序。 因此，创建程序（20）的创建很容易。 操作程序（20）易于操作者一目了然。