Fanuc Corporation

Yoshitaka Ikeda

Atsushi Watanabe

Hiroji Nishi

Tetsuya Kosaka

Fumikazu Terawaki

Tatsuo Karakama

Yuuki Makihata

A robot controller used in a system having a machine tool and a robot, by which the robot is properly operated corresponding to an operation state of the machine tool. The robot controller has a data communicating part which obtains data representing an operation state of the machine tool at predetermined timing; a motion pattern storing part which stores a plurality of motion patterns of the robot for the machine tool; and a motion controlling part which selects a motion pattern from the stored plurality of motion patterns when an abnormality occurs in the machine tool or when an operation state of the machine tool satisfies a predefined condition, and operates the robot based on the selected motion pattern, the selected pattern being associated with an operation state of the machine tool when an abnormality occurs or when the operation state satisfies the predefined condition.

Robot controller for controlling robot which supplies and discharges workpiece

A robot controller () controlling a robot () used combined with a machine tool () provided with a communication unit () connecting the robot controller to a machine tool, a detection unit () detecting through the communication unit a type and number of machine tools, and a setting unit () setting the robot controller based on the type and number of machine tools detected by the detection unit. Due to this, machine tool and robot startup work can be simply and easily performed without requiring skill or increasing the startup man-hours. The setting unit selects one setting file from among a plurality of setting files for the robot controller, stored in the robot controller, based on the type and number of machine tools detected by the detection unit.

Controller of robot used combined with machine tool

A controller for work piece-conveying robot having: a coordinate system storage section for storing one or more manual jog feed coordinate systems; a working area setting section for setting to a machine tool a working area to which the manual jog feed coordinate system is assigned; a hand position obtaining section for obtaining a current position of the robot hand at each specified sampling period; a determination section for determining whether or not the current position of the robot hand obtained by the hand position obtaining section is within the working area set by the working area setting section; and a coordinate system switching section for switching a present manual jog feed coordinate system to the manual jog feed coordinate system assigned to the working area if it is determined by the determination section that the current position of the robot hand is within the working area.

Controller of work piece-conveying robot

A controller of an injection molding machine and a controller of a molded-product removing robot are connected to each other via communication means. When a molding condition save command is entered from the controller of the injection molding machine, a folder with a management number is created on a memory card, and molding conditions stored in the controller of the injection molding machine are saved in the folder. A teaching program and/or setting data stored in the robot controller is read via the communication means and saved in the same folder. When a molding condition read command is entered, data is read from a specified folder, molding conditions are set in the controller of the injection molding machine, and a teaching program etc. are set in the robot controller via the communication means.

Injection molding system data management method

Control method in multi-layer welding

A robot supports a welding torch for use in arc welding of a cylindrical welding object. The welding object is rotated about an axis and is controlled by a robot controller. The robot is operated to track the welding torch along a calculated welding line to continuously position the welding torch along the welding line. A reference circle is formed by rotation of one point on the welding object. A coordinate system is set with a center corresponding to the center of the reference circle. A laser sensor detects a point on the welding line, and the detected point is stored by using a distance r from a center O of the work coordinate system and a z-coordinate value z. As the cylindrical welding object is rotated by an angle .theta. corresponding to an interval between the position detected by the laser sensor and a calculated second position, the welding torch is moved to a position to coincide with the second position.

Method of controlling robot for use in arc welding

A method of controlling a robot attached to a tool. The position of the robot is corrected in real time by detecting a target position on a workpiece by a laser sensor. A laser light emitted from a laser light source of the laser sensor scans a surface of the workpiece toward a direction across an operating line. An initial scanning forms a locus of laser irradiation points and crossing points which intersect the locus with the operating line on the workpiece. Angle .alpha. is defined to be an angle formed between an axis of the tool and the locus on the surface of the workpiece. Angle .beta. is defined to be an angle formed between the operating line (point series line connecting the crossing points obtained by a current and past scanning) and the center axis of the tool. Further, angle .gamma. is defined to be a rotation angle around an axis of the tool on the basis of the operating line. An attitude of the robot is determined by the angles .alpha., .beta. and .gamma.. The attitude of the robot is controlled by equalizing the angles .alpha., .beta. and .gamma. to set values .alpha..sub.set, .beta..sub.set and .gamma..sub.set, respectively, at instruction positions.

Method for controlling robot attitude based on tool workpiece angle

A controller for a laser beam oscillator capable of notifying an operator of a proper timing at which a discharge tube, oscillation lamp and the like must be replaced. When a part of the laser beam oscillator is replaced, a processor calculates the integrated operating time value and integrated laser beam output value of the laser beam oscillator since the replacement of the part and displays these values on a CRT. Further, the processor determines the remaining life of the part from these integrated values and when the life is near to its expiring time, an alarm display is indicated on the CRT and an alarm lamp is lit on an operation panel.

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Yamanashi, Japan

Yoshitaka Ikeda