Toshiba STE 58762 instruction manual Chapter AN Outline of Robot Language, Robot Movement, － 1-1 －

STE 58762

CHAPTER 1

AN OUTLINE OF ROBOT LANGUAGE

This chapter describes the connection between robot language and robot movement, and presents a rough outline of commands used in robot language.

1.1ROBOT MOVEMENT

Robots do work in place of people. For example, let’s say that somebody has to attach a part to a workpiece coming down a conveyor. The employee takes a part from a parts bin and attaches the part to a workpiece transported to his or her station by a conveyor. If we were to set up a robot to do this work instead, we would have an arrangement something like that shown in Figure 1.1.

Parts feeder Wokpiece

Conveyor

Fig. 1.1 Assembly work

Here, the robot grabs a part from the parts feeder and attaches the part to a workpiece coming down the conveyor. considering this work from the point of view of the robot (and not, for example, from the point of view of the parts feeder or conveyor), we would come up with a diagram like that of Figure 1.2. In this Figure, the robot first moves straight down from Point B to Point A, where it grabs a part. After grabbing the part, the robot moves back up from Point A to Point B. From Point B, the robot moves the part to Point C, which is directly above the part attachment location Point D. The robot then drops down from Point C to Point D, and attaches the part to the workpiece. When the robot is finished attaching the part, it moves back up to Point C, and then finally back to Point B. This completes one work cycle.

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