JP5542233B1 - Orthogonal robot teaching device and teaching method therefor - Google Patents

Abstract

An orthogonal robot teaching device capable of teaching in consideration of the inclination of an X axis and a Y axis is provided.
An orthogonal robot teaching device having an X axis 2 and a Y axis 3 and supporting a work tool 4, wherein the work tool is a first to third reference points 51, 52, 53, when the X-axis is driven when moving from the first reference point 51 to the Y direction of the second reference point 52, and from the second reference point 52 to the X direction of the third reference point 53. A storage unit that stores the movement amount Y driven by the Y axis when moved, the machining coordinate data of the workpiece and the reference plate J, and the X axis and the Y axis based on the movement amount X, the movement amount Y, and the machining coordinate data. And a calculation unit for calculating the command value. Thereby, the inclinations of the X axis and the Y axis with respect to the workpiece processing coordinates can be obtained, and the command values of the X axis and the Y axis can be corrected.
[Selection] Figure 2

Description

  The present invention relates to a teaching device for an orthogonal robot in which a work tool for performing so-called work can be moved in a horizontal direction, and a teaching method therefor.

  A conventional orthogonal robot teaching device includes an X axis that is movable in the X direction, which is the flow direction of a workpiece, and a moving unit that is loaded with the X axis and moves in the Y direction that intersects the X direction. A tool for performing work such as screw tightening is provided at the tip, and a work tool capable of rotating and raising and lowering a bit as an example of this tool is fixed to the Y axis. In addition, a controller for driving and controlling the X and Y axes and the work tool is connected to the conventional orthogonal robot, and the X and Y axes are driven in advance to the controller. The command value is set. Since this command value is for moving the work tool in a plane, it is position information set in robot coordinates composed of X and Y coordinates. Thereby, the X axis and the Y axis are driven and controlled based on the robot coordinates, and the work tool moves above the work point of the workpiece. In addition to the position information, the control device is preset with information related to the rotation operation and the lifting operation of the bit, so that the bit moved to the work point of the workpiece has a predetermined value. Rotation and lowering are performed, and a separately supplied screw is screwed into the working point. The operation of setting the position so that the bit is moved to a predetermined position is called teaching.

  In a general orthogonal robot teaching method, first, an operator actually moves the work tool to the work point, and aligns the bit and the work point to perform alignment. Recognition coordinates recognized by the control device at the time of this alignment are registered in the control device as position information of the X and Y axes. In other words, the teaching method for a general orthogonal type robot has to move the work tool to the work point without fail, and if the work has many work points, it takes time to teach. . Further, in an operation where there are many setup changes that frequently change the type of workpiece, teaching is required each time, so that the production efficiency is lowered.

  A teaching method for an orthogonal robot for solving the above-described problem is disclosed in Patent Document 1. In this conventional orthogonal robot teaching method, an operator can perform teaching without actually moving the work tool to a work point of a workpiece. Specifically, the position information of the work point is displayed on a display device (not shown) based on the workpiece machining data (hereinafter referred to as workpiece machining coordinate data), and the display point corresponding to the displayed work point is displayed. Select according to the work order. Thereby, the coordinates of the display point are converted based on the workpiece machining coordinate data and registered in the robot coordinates. In addition, what was registered in this robot coordinate is called a target point below. Therefore, since the X axis and the Y axis are driven and controlled based on the target points registered in the robot coordinates, the conventional orthogonal robot teaching method determines the position of the work tool to move to the workpiece machining There is a feature that can be taught based on coordinate data. Therefore, the teaching method of the conventional orthogonal robot can be completed in a shorter time than the general orthogonal robot teaching method described above because the teaching is completed when the display point displayed on the display device is selected. There is a feature that can.

Japanese Patent Publication No. 07-7304

  However, when the conventional orthogonal robot teaching apparatus and the teaching method thereof are used, there is a problem that the moved work tool is not positioned above the work point where it should originally be located. This is because the X axis and the Y axis are attached so as to cross each other, but in this attachment operation, it is difficult to assemble the X axis and the Y axis at a designed installation angle (for example, 90.000 degrees). . An example in which such an attachment error occurs is the state shown in FIGS. 2 and 3, where the X-axis 2 and the Y-axis 3 shown here are reference plates J fixed at positions where the workpiece W is clamped. It will be arranged inclining with respect to each. That is, the X axis 2 is inclined with respect to the X direction of the workpiece machining coordinate data, and the Y axis 3 is inclined with respect to the Y direction. Normally, when the work tool is moved from a certain position, for example, only in the X direction, only the X axis is driven. For example, the work tool is moved in the Y direction due to the inclination of the X axis. become. As described above, the conventional orthogonal robot teaching apparatus and teaching method have a problem that it is difficult for the bit and the work point of the workpiece to coincide with each other due to the influence of the mounting error. In addition, the conventional orthogonal robot teaching apparatus and teaching method have to be taught and corrected again after teaching once so that the work point and the bit coincide with each other. There was also a problem that required.

  The present invention has been made in view of the above problems, and can set the target point set in the robot coordinates in consideration of the X-axis and Y-axis mounting errors, and can further set the workpiece machining. An object of the present invention is to provide an orthogonal robot teaching apparatus capable of teaching based on coordinate data and a teaching method thereof.

In order to achieve this object, a clamp unit that fixes an object at a fixed position of a plane coordinate composed of an X coordinate and a Y coordinate, an X axis that can be driven in the X direction in the plane coordinate, and the X axis that crosses and engages the X axis. A combined Y-axis that can be driven in the Y direction, a work tool that is supported by either the X-axis or the Y-axis and that can move over the object and that can perform a so-called operation, and the X-axis and the Y-axis, respectively. A control unit that controls driving, and a storage unit that stores machining coordinate data of the object, and sets the command values related to driving of the X-axis and the Y-axis based on the machining coordinate data, and the work In the orthogonal robot teaching apparatus configured to be able to teach a tool to be positioned at a predetermined position of the object, the storage unit moves in the Y direction by driving only the X axis. And the movement amount X that moves in the X direction by driving only the Y axis is stored, and the command values of the X axis and the Y axis are stored as the machining coordinate data of the object, the movement amount X, and the movement amount, respectively. Ri Na includes a calculator for calculating each based on Y, the object is a workpiece formed by comprising a reference plate or one or more work points comprising each comprise at least three reference points, the reference plate Includes a first reference point that is processed from the upper surface to the bottom surface, a second reference point that is disposed at a predetermined distance from the first reference point and only in the Y direction, and the second reference point. And a third reference point arranged at a predetermined distance from the two reference points and only in the X direction.

  Further, a clamp unit for fixing the object at a fixed position of a plane coordinate composed of an X coordinate and a Y coordinate, an X axis that can be driven in the X direction in the plane coordinate, and a Y direction that intersects and engages the X axis. A driveable Y axis, a work tool supported on either the X axis or the Y axis and movable over the object and capable of performing so-called work, and a control unit for driving and controlling the X axis and the Y axis, respectively. And a storage unit for storing machining coordinate data of the object, and setting command values related to driving of the X-axis and the Y-axis based on the machining coordinate data, and setting the work tool to the object In the teaching method of an orthogonal robot that can be taught to be located at a predetermined position, the object is a reference plate or at least one reference plate each having at least three reference points. A first reference point processed on the reference plate from the top surface to the bottom surface, and a predetermined distance from the first reference point and only in the Y direction. A second reference point arranged at a distant position and a third reference point arranged at a predetermined distance from the second reference point and separated only in the X direction are respectively disposed. The plate is fixed to the clamp unit, the work tool is sequentially moved to the first to third reference points, and the movement amounts of the X axis and the Y axis when the work tool moves between the reference points, Based on the processing coordinate data of the object, a movement amount Y that moves in the Y direction by driving only the X axis and a movement amount that moves in the X direction by driving only the Y axis The X-axis command value is corrected based on the movement amount Y and the processing coordinate data of the object, and the Y-axis command value is corrected based on the movement amount X and the object. It correct | amends based on the said process coordinate data.

  The orthogonal robot teaching apparatus and the teaching method thereof according to the present invention uses the reference plate to drive the movement amount X and the X-axis drive by the Y-axis drive caused by the X-axis and Y-axis mounting errors. The movement amount Y can be calculated. The position information corresponding to the work point of the workpiece W is included in the workpiece machining coordinate data. Based on the workpiece machining coordinate data and the calculated movement amount X and movement amount Y, the above-described position information is obtained. Command values to be commanded to the X axis and the Y axis are derived. Therefore, the drive control can be performed while eliminating the X-axis and Y-axis mounting errors, and the work tool that is driven and moved on the X-axis and the Y-axis is reliably positioned without being displaced from the work point of the work. There are advantages. The orthogonal robot teaching apparatus and teaching method according to the present invention can flexibly add models when, for example, a plurality of orthogonal robots are used to frequently change workpiece models. This is because teaching of the added model can be performed by reading the machining coordinate data of the workpiece to be added as described above. As a result, the teaching time is significantly shortened as compared with the prior art, and there is an advantage that no positional deviation occurs.

It is a schematic explanatory drawing of the robot and screw fastening system which concern on this invention. It is explanatory drawing which shows the positional relationship of the robot which concerns on this invention, and a reference | standard plate. It is explanatory drawing which shows another positional relationship of FIG. It is explanatory drawing which shows another positional relationship of FIG.

  The orthogonal robot teaching apparatus according to the present invention will be described with reference to FIGS. 1 to 4 and then the orthogonal robot teaching method will be described.

  First, the orthogonal robot teaching device is arranged so that the work tool 4 (4a) is positioned above the work W clamped at a predetermined position, and the work tool 4 (4a) is moved to a desired position. An orthogonal robot 1 (1a) to be operated, a control device 8 (8a) that is an example of a control unit that drives and controls the orthogonal robot 1 (1a) and the work tool 4 (4a), and the control device 8 (8a ) Connected to a personal computer 40 (hereinafter referred to as a PC), which is an example of the calculation unit.

  Moreover, the said workpiece | work W is poured into each work process by the belt conveyor which conveys this toward the downstream from upstream. As shown in FIG. 1, the belt conveyor includes a belt B on which workpieces W are stacked, and a belt rotation motor BM that rotationally drives the belt B. In addition, a pair of clamp units C and C1 are arranged on the belt conveyor so as to perform a so-called operation by the orthogonal robot 1 (1a). The clamp units C and C1 are temporarily connected to the workpiece W. Etc. can be clamped or unclamped. The belt conveyor is arranged for each work process, and a plurality of belts B are arranged so as to extend in the X direction, and so-called work for the workpiece W is performed in each process.

  Since the orthogonal robot 1 (1a) has the same configuration, only the structure of the orthogonal robot 1 will be described here. The orthogonal robot 1 includes an X axis 2 that moves along the X direction in which the workpiece W flows, a Y axis 3 that loads the X axis 2 and moves in the Y direction that intersects the direction in which the workpiece W flows, The work tool 4 is fixed to the Y axis 3 and can move in a plane over the work W.

  The X axis 2 is installed so as to extend along the direction in which the workpiece W flows, and is stacked so as to cross the Y axis 3. Specifically, the Y axis 3 is fixed to the movable block 20 of the X axis 2, and the Y axis 3 can be moved in the X direction by the movement of the movable block 20. Further, an elevating unit 7 that supports the work tool 4 so as to be movable up and down is fixed to the movable block 30 of the Y axis 3, and the work tool 4 is moved in the Y direction by the movement of the movable block 30 of the Y axis 3. It is configured to be movable to.

  Since the X axis 2 (2a) and the Y axis 3 (3a) have the same structure as shown in FIGS. 2 to 4, only the X axis 2 will be described below. The X axis 2 is screwed into the ball screw 21, an AC servo motor 23 that can integrally rotate the coupling 22 connected to one end of the ball screw 21, and the ball screw 21. And a movable block 20 that is movable by the rotation of the ball screw 21. The AC servomotor 23 includes an encoder (not shown) therein, and is configured to be able to drive the ball screw 21 by a predetermined rotation speed and rotation angle. Further, since the ball screw 21 has a thread portion having a predetermined lead angle, the movable block 20 reciprocates along the ball screw 21 as the AC servo motor 23 rotates forward or backward. It is configured to be movable.

  Since the work tool 4 (4a) has the same configuration, only the structure of the work tool 4 will be described below with reference to FIG. The work tool 4 includes a bit 5 that can be engaged with a head of a screw S that is an example of a fastening part, and an AC servomotor 6 that is an example of a rotational drive source that imparts rotation to the bit 5; An elevating unit 7 that supports the bit 5 so as to freely rotate and elevate. Since the screw S is supplied so as to engage with the bit 5 by a screw supply device (not shown), the work tool 4 is configured to be able to screw the screw S into the workpiece W.

  As shown in FIG. 1, the work W is provided with six female screws P1 to P6, which are examples of work points. These female screws P1 to P6 are removed from the upper surface of the work W by a tapping machine (not shown). Pre-processed toward the bottom. Further, the tapping machine moves a tap (not shown) or a workpiece W in the front-rear and left-right directions based on the positional information (hereinafter referred to as workpiece machining coordinate data) of the female screws P1 to P6, and sequentially moves the female screws. Molding. In the present embodiment, the number of female screws is six, but is not limited to this, and one or more may be provided.

  On the other hand, what is clamped by the clamp units C and C1 shown in FIGS. 2 to 4 is a reference plate J, and three holes (not shown) are processed from the upper surface to the bottom surface of the reference plate J. The shafts 51, 52, and 53 are arranged in these holes so as to protrude from the upper surface. That is, the axis of the hole and the axis of the shafts 51, 52, 53 are on the same line. Further, since the shafts 51, 52 and 53 are set to have the same size as the outer diameter of the bit 5, the outer diameters of the shafts 51, 52 and 53 and the outer diameter of the bit 5 are easily matched. Yes. As described above, by performing the alignment, the axis of the bit 5 and the axis of the hole can be substantially matched. The shafts 51, 52, 53 are the reference points, the shaft 51 is a first reference point, the shaft 52 is a second reference point, and the shaft 53 is a third reference point. With regard to the positional relationship between these reference points, the second reference point is arranged at a position advanced only in the Y direction when considered on the later-described integrated processing coordinate data and robot coordinates based on the first reference point. The third reference point is arranged at a position advanced only in the X direction from the second reference point. The first to third reference points are all arranged within the movable range of the work tool 4. By the way, the three holes of the reference plate J are processed in advance from the upper surface to the bottom surface of the reference plate J by a processing machine (not shown). The processing machine sequentially processes the holes by moving a drill (not shown) or a reference plate J in the front / rear and left / right directions based on positional information of three holes (hereinafter referred to as reference plate processing coordinate data). In addition, although the number of holes processed is three, it is not limited to this, You may provide more more.

  Since the control device 8 (8a) has the same configuration, only the control device 8 will be described here. The control device 8 is connected to the orthogonal robot 1, and the AC servomotors 23 and 33 for the X axis 2 and the Y axis 3, the AC servomotor 6 for the work tool 4, the lifting unit 7, Are configured to be controllable. The control device 8 is controlled to drive the X axis 2 and the Y axis 3 respectively, and the position of the bit 5 of the work tool 4, that is, the coordinates commanded by the orthogonal robot 1 (hereinafter referred to as robot coordinates or Drive control based on a robot coordinate system). Further, a target point, which is a plane coordinate on which the bit 5 is to be positioned, is set in advance in the robot coordinates, and the X axis 2 and the Y axis 3 are driven and controlled based on the target point of the robot coordinates. .

  Further, the control device 8 determines a plane coordinate and a height coordinate (hereinafter referred to as the following) where the bit 5 of the work tool 4 is currently located based on the signals emitted from the AC servomotors 23 and 33 and the lifting unit 7. Current position storage unit capable of storing a plurality of recognition coordinates) and target coordinate storage unit capable of storing a plurality of preset plane coordinates and height direction height coordinates (hereinafter, these two coordinates are referred to as target coordinates). The target coordinate storage unit and the recognized coordinate are compared to check whether they match, and the X-axis 2 and Y-axis 3 AC servomotors 23 and 33 are driven at predetermined rotation angles, respectively. And a command unit for commanding to do so.

  The PC 40 is connected to each of the control devices 8 and 8a, and includes a storage unit that reads the workpiece processing coordinate data and the reference plate processing coordinate data, respectively, and stores the position coordinates of the female screw and the reference point. It becomes. Further, the workpiece machining coordinate data and the reference plate machining coordinate data stored in the storage unit are shown on the monitor of the PC 40 as integrated machining coordinate data obtained by integrating them. It comprises at least an outline of the workpiece W and display points corresponding to the work points. The operator determines the fastening order of the screws S by sequentially selecting the display points shown on the PC 40, and sets the plane coordinates of the female screws that fasten the screws S. Therefore, the plane coordinates of the female thread by the PC 40 are the coordinates of the integrated machining coordinate data (hereinafter referred to as machining coordinates or machining coordinate system), whereas the plane of the bit 5 set in the control devices 8 and 8a. The coordinates are the robot coordinate system described above. For this reason, the plane coordinates of the female thread of the machining coordinate system used in the PC 40 are transferred to the control devices 8 and 8a, respectively, converted from the display point to the target point, and set in the robot coordinate system. Thus, the orthogonal robot 1 (1a) is controlled.

  By the way, since both the machining coordinate system and the robot coordinate system are universal, as shown in FIGS. 2 and 3, the X axis 2 and the Y axis 3 are at right angles of exactly 90.000 degrees or the like. 4 or even if the X axis 2 and the Y axis 3 are inclined with respect to the reference plate J or the workpiece W, as shown in FIG. Even when the Y axis 3 is arranged so as not to be inclined with respect to the reference plate J or the workpiece W so as to be accurately orthogonal, both are the same. Therefore, when the target point is set from the processing coordinates to the robot coordinates and the X axis 2 and the Y axis 3 are driven based on the robot coordinate system, when the X axis 2 and the Y axis 3 are inclined, Movement in the Y direction by driving only the X axis 2 (hereinafter referred to as movement amount Y) and movement in the X direction by driving only the Y axis 3 (hereinafter referred to as movement amount X) occur. On the other hand, when the X2 and Y axis 3 are not inclined, the work tool 4 moves only in the X direction of the robot coordinate system when only the X axis 2 is driven, and the work tool 4 moves only when the Y axis 3 is driven. Moves only in the Y direction of the robot coordinate system. That is, since the movement amount X and the movement amount Y of the X axis 2 and the Y axis 3 are different for each orthogonal robot arranged in each process, the X axis and the Y axis of the orthogonal robots 1 and 1a are different. It depends on the degree of inclination.

  Therefore, the PC 40 includes a calculation unit that calculates the movement amount X and the movement amount Y of the X-axis 2 and the Y-axis 3, respectively. 3 is calculated based on the movement amount of the X axis 2 if the movement amount is Y. In addition, the calculation unit calculates the so-called inclination of the X axis 2 and the Y axis 3, and based on the inclination of the X axis 2 and the inclination of the Y axis 3 and the target point of the robot coordinate system. , Command values to be commanded to the AC servomotors 23 and 33 are obtained, and these command values can be set in the command unit.

  Next, the teaching method for the orthogonal robot according to the present invention will be described below.

  An operator operates the clamp units C and C1 to clamp the reference plate J after storing the integrated processing coordinate data in the storage unit. Next, the operator moves the bit 5 of the work tool 4 to the shaft 51 of the reference plate J and aligns the outer diameter of the bit 5 with the outer diameter of the shaft 51. At this time, the operator operates the corresponding control device 8 or the PC 40 in order to store the recognized coordinates (corresponding to the plane coordinates where the bit 5 described above is currently located) in the current position storage unit. The shafts 52 and 53 are sequentially aligned in the same manner as described above, and the control device 8 sequentially stores the respective recognition coordinates in the current position storage unit.

  Thereby, the correspondence relationship between the positional relationship of the processing coordinates of the first to third reference points and the distance for driving the X-axis 2 and the Y-axis 3 to move between the respective reference points can be understood. Specifically, in the case shown in FIGS. 2 and 3, when considering the processing coordinates, the bit 5 moves straight from the position of the shaft 51 to the X axis 2 side in the Y direction and moves to the position of the shaft 52. To reach. However, considering the distance to drive the X axis 2 and the Y axis 3 when moving from the shaft 51 to the shaft 52, not only the driving of the Y axis 3 but also the X axis 2 must be driven slightly. Similarly, considering the processing coordinates, the bit 5 moves straight from the position of the shaft 52 to the clamp C side in the X direction and reaches the position of the shaft 53. However, considering the distance to which the X axis 2 and the Y axis 3 are driven when moving from the shaft 52 to the shaft 53, not only the X axis 2 but also the Y axis 3 must be driven slightly. Therefore, when the bit 5 is set to these first to third reference points and the recognized coordinates at this time are stored in the current position storage unit, the calculation unit calculates the movement amount X and the movement amount Y.

  Subsequently, the worker sequentially selects the display points shown on the monitor of the PC 40 and determines the order and position where the work tool 4 works. The determined position is the target point, and command values to be commanded to the AC servomotors 23 and 33 are calculated by the calculation unit based on the target point, the movement amount X and the movement amount Y, respectively. . Further, all of the calculated command values are set in the command unit, and the X-axis 2 and the Y-axis 3 are driven and controlled based on the command values. That is, the command value of the X axis 2 is corrected based on the movement amount Y and the X coordinate of the target point, while the command value of the Y axis 3 is corrected to the movement amount X and the Y coordinate of the target point. Based on correction. Therefore, the bit 5 is accurately positioned above the work point of the work W.

  If there are a plurality of orthogonal robots as shown in FIG. 1, the above-mentioned contents are performed for each orthogonal robot, so that the position of the bit 5 is corrected in consideration of the inclination of each X axis and Y axis. And teaching. In the orthogonal robot teaching apparatus or method according to the present invention, for example, when there is one work point on a workpiece and there are many types of workpieces such as 20 types and 30 types, one reference plate J With the storage of the recognition coordinates using, teaching of all workpiece types can be performed based on the machining data of these workpieces. Therefore, there is an advantage that teaching can be performed efficiently for many types of workpieces. Furthermore, in the present embodiment, the control unit and the calculation unit are configured separately from the control devices 8 and 8a and the PC 40. For example, the control unit 8 and 8a may include the calculation unit. Good.

DESCRIPTION OF SYMBOLS 1 Orthogonal robot 1a Orthogonal robot 2 X-axis 3 Y-axis 4 Work tool 4a Work tool 5 Bit 7 Lifting unit 8 Controller 8a Controller 23 AC servo motor 33 AC servo motor 40 PC
51 First reference point 52 Second reference point 53 Third reference point J Reference plate W Workpiece

Claims (2)

Clamp unit that fixes the object at a fixed position in the plane coordinates composed of the X coordinate and the Y coordinate, the X axis that can be driven in the X direction in the plane coordinates, and the Y direction that intersects and engages with the X axis A Y-axis, a work tool supported on either the X-axis or the Y-axis and movable over the object and capable of so-called work, and a control unit for driving and controlling the X-axis and the Y-axis, respectively. A storage unit that stores machining coordinate data of the object, and sets command values related to driving of the X axis and the Y axis based on the machining coordinate data, and sets the work tool to a predetermined value of the object. In the teaching device of the orthogonal type robot that can be taught to be located at the position of
The storage unit stores a movement amount Y that moves in the Y direction by driving only the X axis and a movement amount X that moves in the X direction by driving only the Y axis.
Ri Na includes a calculator for calculating each based the command value of the X-axis and Y-axis to the machining axis data and the moving amount X and the movement amount Y of the object,
The object is a workpiece comprising a reference plate or at least one work point each comprising at least three reference points,
The reference plate has a first reference point that is processed from the upper surface to the bottom surface, and a second reference point that is disposed at a predetermined distance from the first reference point and only in the Y direction. , teaching apparatus of the orthogonal type robot to a third reference point which arranged to look away from the second reference point to a predetermined distance only be the X direction, characterized in Rukoto such comprise. Clamp unit that fixes the object at a fixed position in the plane coordinates composed of the X coordinate and the Y coordinate, the X axis that can be driven in the X direction in the plane coordinates, and the Y direction that intersects and engages with the X axis A Y-axis, a work tool supported on either the X-axis or the Y-axis and movable over the object and capable of so-called work, and a control unit for driving and controlling the X-axis and the Y-axis, respectively. A storage unit that stores machining coordinate data of the object, and sets command values related to driving of the X axis and the Y axis based on the machining coordinate data, and sets the work tool to a predetermined value of the object. In the teaching method of the orthogonal type robot that can be taught to be located at the position of
The object is a workpiece comprising a reference plate or at least one work point each comprising at least three reference points,
A first reference point that is processed on the reference plate from the top surface to the bottom surface; and a second reference point that is disposed at a predetermined distance from the first reference point and only in the Y direction. A third reference point disposed at a position separated from the second reference point by a predetermined distance and only in the X direction, respectively.
Fix this reference plate to the clamp unit,
Sequentially moving the work tool to the first to third reference points;
Movement that moves in the Y direction by driving only the X axis based on the movement amount of the X axis and the Y axis when the work tool moves between the reference points and the processing coordinate data of the object. A movement amount X that moves in the X direction by driving only the amount Y and the Y-axis,
While correcting the command value of the X axis based on the movement amount Y and the processing coordinate data of the object,
A teaching method for an orthogonal robot, wherein the command value for the Y-axis is corrected based on the movement amount X and the processing coordinate data of the object.

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