EP0094214A2
Expired / Lapsed
EP
⏱️ 0.0 years remaining
Industrial robot control
Assignee: Fanuc Corp
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Filing: 1983-05-06
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Granted: —
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Expires: 2003-05-06
Abstract
Abstract A method of and an arrangement for controlling an industrial robot (RBT) having a plurality of controlled axes, of the type which performs services based on a robot service program. The method includes setting a reference point (PW) for at least one controlled axis of the industrial robot (RBT), which reference point (PW) differs from the position of a mechanical zero point (Pr) on the controlled axis, discriminating whether the industrial robot (RBT) has arrived at the reference point (PW), and generating a prescribed signal when the industrial robot (RBT) arrives at the reference point.
Inventors
- 👤 Hajimu Inaba
- 👤 Nobutoshi Torii
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-07 12:15
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/418; G05B19/41815; G05B19/41825; G05B2219/00; G05B2219/30; G05B2219/45; G05B2219/45083; Y; Y02; Y02P; Y02P90/00; Y02P90/02
Claims Analysis
Total Claims: 25
Claim 1
Independent Claim
75 words
A method of controlling an industrial robot based on a robot service program, comprising the steps of: (a) setting a reference point for at least one controlled axis of the industrial robot, said reference point differing from the position of a mechanical zero point on said controlled axis; (b) discriminating whether the industrial robot has arrived at the reference point; and (c) generating a prescribed signal when the industrial robot arrives at the reference point.
Claim 2
Independent Claim
75 words
A method of controlling an industrial robot based on a robot service program, comprising the steps of: (a) setting a reference point for at least one controlled axis of the industrial robot, said reference point differing from the position of a mechanical zero point on said controlled axis; (b) discriminating whether the industrial robot has arrived at the reference point; and (c) generating a prescribed signal when the industrial robot arrives at the reference point.
Claim 3
Dependent Claim
15 words
The method according to claim 1, wherein the reference point can be changed in position.
Claim 4
Independent Claim
106 words
A method of controlling an industrial robot based on a robot service program, comprising the steps of: (a) setting a reference point for at least one controlled axis of the industrial robot, said reference point differing from the position of a mechanical zero point on said controlled axis; (b) discriminating whether the industrial robot is positioned at the reference point; (c) generating a signal, indicating that the industrial robot has returned to the reference point, when the industrial robot is determined to be positioned at the reference point in step (b); and (d) executing a predetermined service by the industrial robot in response to said signal.
Claim 5
Independent Claim
106 words
A method of controlling an industrial robot based on a robot service program, comprising the steps of: (a) setting a reference point for at least one controlled axis of the industrial robot, said reference point differing from the position of a mechanical zero point on said controlled axis; (b) discriminating whether the industrial robot is positioned at the reference point; (c) generating a signal, indicating that the industrial robot has returned to the reference point, when the industrial robot is determined to be positioned at the reference point in step (b); and (d) executing a predetermined service by the industrial robot in response to said signal.
Claim 6
Dependent Claim
32 words
The method according to claim 3, wherein said step (b) includes discriminating whether the industrial robot has returned to the reference point after generation of a reference point return command. 3 or
Claim 7
Independent Claim
41 words
The method according to claim/4, wherein said step (d) includes monitoring the actual position of the industrial robot along each controlled axis thereof, and generating said signal when the actual position coincides with the position of the reference point. any preceding
Claim 8
Independent Claim
34 words
The method according to/claim, wherein the industrial robot executes services for a plurality of machine tools each of which produces a robot service request signal. when appended to any of claims 3 to 5,
Claim 9
Dependent Claim
44 words
The method according to claim 6 /wherein said step (d) includes executing a service for whichever of the machine tools produces a robot service request signal, providing that the signal indicating that the industrial robot has returned to the reference point has been generated.
Claim 10
Dependent Claim
36 words
The method according to claim 7, wherein a reference point return instruction is inserted in robot service programs specifying robot services to be executed for corresponding ones of the machine tools. claims 3 to 8, the
Claim 11
Independent Claim
13 words
The method according to any of /wherein/reference point can be changed in position.
Claim 12
Independent Claim
13 words
The method according to any of /wherein/reference point can be changed in position.
Claim 13
Dependent Claim
31 words
The method according to claim 9, wherein the position of the reference point is specified by a data block incorporating a reference point return instruction inserted in the robot service program.
Claim 14
Dependent Claim
103 words
An industrial robot arrangement comprising an industrial robot and a robot control apparatus therefor, the robot control apparatus being adapted and arranged to execute, when in use, a method of controlling the industrial robot based on a robot service program and comprising the steps of: (a) setting a reference point for at least one controlled axis of the industrial robot, said reference point differing from the position of a mechanical zero point on said controlled axis; (b) discriminating whether the industrial robot has arrived at the reference point; and (c) generating a prescribed signal when the industrial robot arrives at the reference point.
Claim 15
Dependent Claim
103 words
An industrial robot arrangement comprising an industrial robot and a robot control apparatus therefor, the robot control apparatus being adapted and arranged to execute, when in use, a method of controlling the industrial robot based on a robot service program and comprising the steps of: (a) setting a reference point for at least one controlled axis of the industrial robot, said reference point differing from the position of a mechanical zero point on said controlled axis; (b) discriminating whether the industrial robot has arrived at the reference point; and (c) generating a prescribed signal when the industrial robot arrives at the reference point.
Claim 16
Dependent Claim
15 words
The arrangement according to claim 11, wherein the reference point can be changed in position.
Claim 17
Dependent Claim
133 words
An industrial robot arrangement comprising an industrial robot and a robot control apparatus therefor, the robot control apparatus being adapted and arranged to execute, when in use, a method of controlling the industrial robot based on a robot service program and comprising the steps of: (a) setting a reference point for at':least one controlled axis of the industrial robot, said reference point differing from the position of a mechanical zero point on said controlled axis; (b) discriminating whether the industrial robot is positioned at the reference point; (c) generating a signal, indicating that the industrial robot has returned to the reference point, when the industrial robot is determined to be positioned at the reference point in step (b); and (d) executing a predetermined service by the industrial robot in response to said signal.
Claim 18
Dependent Claim
133 words
An industrial robot arrangement comprising an industrial robot and a robot control apparatus therefor, the robot control apparatus being adapted and arranged to execute, when in use, a method of controlling the industrial robot based on a robot service program and comprising the steps of: (a) setting a reference point for at':least one controlled axis of the industrial robot, said reference point differing from the position of a mechanical zero point on said controlled axis; (b) discriminating whether the industrial robot is positioned at the reference point; (c) generating a signal, indicating that the industrial robot has returned to the reference point, when the industrial robot is determined to be positioned at the reference point in step (b); and (d) executing a predetermined service by the industrial robot in response to said signal.
Claim 19
Dependent Claim
30 words
The arrangement according to claim 13, wherein said step (b) includes discriminating whether the industrial robot has returned to the reference point after generation of a reference point return command.
Claim 20
Dependent Claim
42 words
The arrangement according to claim 13 or 14, wherein said step (d) includes monitoring the actual position of the industrial robot along each controlled axis thereof, and generating said signal when the actual position coincides with the position of the reference point.
Claim 21
Dependent Claim
36 words
The arrangement according to any preceding claim 11 to 15, wherein the industrial robot is adapted and arranged to execute services for a plurality of machine tools each of which produces a robot service request _.signal.
Claim 22
Dependent Claim
53 words
The arrangement according to claim 16 when appended to any of claims 13 to 15, wherein said step (d) includes executing a service for whichever of the machine tools produces a robot service request signal, providing that the signal indicating that the industrial robot has returned to the reference point has been generated.
Claim 23
Dependent Claim
31 words
The arrangement according to claim 17, wherein a reference point return instruction is inserted in robot service programs specifying robot services to be executed for corresponding ones of the machine tools.
Claim 24
Dependent Claim
18 words
The arrangement according to any of claims 13 to 18, wherein the reference point can be changed'in ,position.
Claim 25
Dependent Claim
31 words
The arrangement according to claim 19, wherein the position of the reference point is specified by a data block incorporating a reference point return instruction inserted in the robot service program.
References Cited (Backward Citations)
No citation records indexed.
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