Robot control apparatus with function for robot backward operation

摘要

A robot control apparatus having an expanded and improved backward operation function. During forward operation according to an operation program, command types, line numbers, robot positions, I/O signal states before execution of related commands, and values before execution of computation commands are stored in a history table. In the backward operation, the data written in the history table is read backward, command type discrimination is made, and backward operation processing is executed in accordance with the result of discrimination. For backward operation dedicated commands, a separately taught backward operation dedicated command is read and executed. If, however, the read command is a command to output a signal to a cooperative device, the signal output command is executed after completion of the robot motion to the stored position. For I/O commands, I/O signals are automatically inverted or are individually set after the motion to the stored position is completed.