Apparatus and method for programming a computer operated robot arm using macro instructions

Claim 2

Apparatus for creating a cycle of operation program for a robot arm, the program including coordinates of locations to which the robot arm is to move a function element and function instructions associated with the locations, the program to be executed by a controller having a memory, the program being created by use of a pendant for defining the locations and storing the coordinates thereof in the memory and a teaching station independent of the pendant, the apparatus comprising: (a) first keystroke means associated with the teaching station for storing in the memory a macro including a sequence of instructions identified by a predetermined macro identifying keystroke; and (b) second keystroke means associated with the pendant for effecting the identifying keystroke to cause the macro sequence of instructions to be stored in association with a selected location.

Claim 3

Apparatus according to claim 7 further comprising macro control means enabled by said macro enabling means for inserting in said macro, commands not intended for incorporation in said program but operative upon selection of said macro to enable incorporation into said program of specified types of instructions from said first keystroke means.

Claim 4

Method of generating an operating control program for a robot arm comprising the steps of: operating a first keystroke means to generate a macro comprising a sequence of macro instructions defining a first operation to be performed by said arm, storing said macro in a memory, operating a servo drive to position the end of said arm at a series of desired points in space, generating a series of movement instructions directing said servo to move the end of said arm successively to said points, causing said movement instructions to become part of a cycle of operation program for said arm, retrieving said macro from said memory, causing said sequence of macro instructions to become part of said cycle of operation program at a position therein corresponding to a desired relative time of occurrence of said first operation, while said arm is at one of said desired points further operating said keystroke means to generate a sequence of keystroke instructions defining a second operation to be performed by said arm, and causing said sequence of keystroke instructions to become part of said cycle of operation program at a position therein corresponding to a desired relative time of occurrence.

Claim 5

Method of generating an operating control program for a robot arm comprising the steps of: operating a first keystroke means to generate a macro comprising a sequence of macro instructions defining a first operation to be performed by said arm, storing said macro in a memory, operating a servo drive to position the end of said arm at a series of desired points in space, generating a series of movement instructions directing said servo to move the end of said arm successively to said points, causing said movement instructions to become part of a cycle of operation program for said arm, retrieving said macro from said memory, causing said sequence of macro instructions to become part of said cycle of operation program at a position therein corresponding to a desired relative time of occurrence of said first operation, while said arm is at one of said desired points further operating said keystroke means to generate a sequence of keystroke instructions defining a second operation to be performed by said arm, and causing said sequence of keystroke instructions to become part of said cycle of operation program at a position therein corresponding to a desired relative time of occurrence.