Abstract: A computer is connected to a system formed by combining a robot with a peripheral device (such as a welder). The computer receives robot mechanical unit motion position information supplied from a robot controller and command information to be outputted to the peripheral device, and displays motions of the robot mechanical unit and the peripheral device on its display screen in an animation form.

Abstract: The present invention relates to such a water cooling device of a vertical multi-cylinder engine as mentioned below.

Abstract: The present invention relates to such an engine as mentioned below.

Abstract: A robot controller executes an operating program, calculates a position and posture of a robot, and sends the position and posture information to a personal computer (PC). At the PC side, on the basis of this position and posture information, animation display information of a work cell including the position and posture of the robot is created and then sent to a teaching pendant. In the teaching pendant, the animation display information is received, and an animation image is displayed on a display section. Until the operating program is terminated, this operation is performed so that an operating animation of the robot is displayed on the display section of the teaching pendant.

Abstract: An operation data display device for a robot allowing an operator to recognize operation data on a plurality of operations performed by the robot at a time. When an arc start command is read out from a taught operation program by the robot controller, a welding start command is issued to an arc welding power supply. The arc welding power supply starts supply of a welding current to a welding torch mounted on a robot. Values of the welding current in a welding operation is outputted to a robot controller and sampled at every predetermined period and recorded. When an arc end command is read out from the operation program, the arc welding power supply terminates the welding operation and output of the values of the welding current. The robot controller transfers a file containing the data of the actual welding current to a personal computer.

Abstract: A robot controller for use in a robot control system with a plurality of robots connected one another through a communication path. When a cause for stopping occurs in one or more robots, other robots are also stopped in the same type of stopping procedure. A priority of execution on a plurality of stop procedure types is determined. When a cause for stopping occurs in one or more robots in the robots connected through the communication line or in the robots in synchronously cooperative operation, all of the robots connected through the communication line or the robots in synchronously cooperative operation are stopped in the same type of stopping procedure. If different causes for stopping occur in the robots, a stopping procedure type having higher priority in the stopping procedures determined in accordance with the different causes of stopping is adopted to stop all of the robots in the same type of stopping procedure.

Abstract: An operation data display device for a robot allowing an operator to recognize operation data on a plurality of operations performed by the robot at a time. When an arc start command is read out from a taught operation program by the robot controller, a welding start command is issued to an arc welding power supply. The arc welding power supply starts supply of a welding current to a welding torch mounted on a robot. Values of the welding current in a welding operation is outputted to a robot controller and sampled at every predetermined period and recorded. When an arc end command is read out from the operation program, the arc welding power supply terminates the welding operation and output of the values of the welding current. The robot controller transfers a file containing the data of the actual welding current to a personal computer.

Abstract: A robot controller having a function of monitoring abnormality of a robot operation to prevent an accident by stopping supply of energy or operational substance to an operational tool when the operational tool is abnormally stopped. Motion command pulses for a robot motion are obtained by computing operations when a motion statement of the operation program is read out and stored in a shared memory. Motors for driving respective robot axes are driven based on the motion command pulses. When an I/O output command is issued on a signal line to actuate an arc welder, the operation control software demands to set a predetermined waiting time period to a timer. The managing software demands to start a countdown of the timer and informs the operation control software of an elapse of the set waiting time period.

Abstract: A robot controller for use in a robot control system with a plurality of robots connected one another through a communication path. When a cause for stopping occurs in one or more robots, other robots are also stopped in the same type of stopping procedure. A priority of execution on a plurality of stop procedure types is determined. When a cause for stopping occurs in one or more robots in the robots connected through the communication line or in the robots in synchronously cooperative operation, all of the robots connected through the communication line or the robots in synchronously cooperative operation are stopped in the same type of stopping procedure. If different causes for stopping occur in the robots, a stopping procedure type having higher priority in the stopping procedures determined in accordance with the different causes of stopping is adopted to stop all of the robots in the same type of stopping procedure.

Abstract: A control system for performing a synchronously cooperative operation among some robots of a plurality of robots connected by a communication line. A plurality of robots No. 1 to No. 4 is operated individually and also is operated in synchronous cooperation. Further, some robots No. 1 and 2 is operated in synchronous cooperation while the other robots Nos. 2 and 4 are operated in synchronous cooperation. The robots Nos. 3 and 4 are operated in synchronous cooperation. The robots No. 1 and 3 is operated in synchronous cooperation while the robots Nos. 2 and 4 are operated individually. The synchronously cooperative operation is performed by any desired combination in that the above robot control part keeps motion procedures denoting changes, which are corresponding to the frame notifications of the passage of time from the above media reproduction part; and moves the above robot according toe the above motion procedures, in the corresponding frame.

Abstract: 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.

Abstract: An arc welding method capable of easily varying welding conditions such as welding speed, voltage and electric current. The method comprises the steps of teaching a start point to start varying welding conditions such as welding speed, voltage and electric current and an end point to terminate the variations of welding conditions such as the welding speed, the voltage and the electric current, as well as setting the welding conditions at the start point and the end point for gradually varying the welding conditions such as welding speed, voltage and electric current towards end point. By simply setting positions of the start point and the end point and the welding conditions at these positions, it is possible to gradually vary the welding conditions from the conditions at the start point to the conditions at the end point while a welding torch is moved from start point to the end point, thereby contributing to the simplification of the welding condition varying procedure.

Abstract: In a multi-layer welding, weld line and a gap width of workpieces (A, B) to be welded are detected by a laser sensor mounted on a robot, during a welding for a first layer, whereby, a welding torch mounted on the robot is made to follow the weld line and welding conditions are adjusted in accordance with the detected gap width. The detected gap width is stored in the storage means together with the weld line data. Then, weldings for a second and subsequent layers are performed by using the stored data in such a manner that the welding torch is made to follow the weld line, and the welding conditions are adjusted in accordance with the gap width.

Abstract: The present invention corrects a teaching point set in a robot movement control program to another position using jog-feed buttons. A robot tool is moved by jog-feed buttons using a jog-feed command unit toward a position to which a teaching point is to be corrected. When the position of the tool approaches any teaching point contained in a movement command program, the robot is automatically shifted to the teaching point to be corrected in the movement command program. When the teaching point to be corrected is found, correction of a teaching point from the closest teaching point to the position to be corrected is then performed.

Abstract: A non-orthogonal three-axis coordinate system in which, when a tool center point is moved to a start point (A) of a path (A-B), the direction of the path (A-B) is represented by an X axis (XAB), an axis vertical to the X axis and vertical to the axis of a tool (Z axis of a tool coordinate system) is represented by a Y axis (YAB), and the axis of the tool is represented by a Z axis (Zt). When the set coordinate system is selected by a jog operation section, and a key for rotational movement around the X axis is selected, a work angle of the tool can be adjusted. When a key for rotational movement around the Y axis is selected, a travel angle of the tool can be adjusted.

Abstract: The robot control system of the present invention stores the robot's initial state data memory prior to engaging in an operation. During a manual movement operation, the robot is started at a predetermined low speed so that the operator may easily observe its movement and take corrective action thereby improving safety. While the robot is operating at this low speed a recovery command may then be issued by the operator from a recovery command unit when it is observed that the robot is moving inappropriately. Upon detection of the recovery command, a recovery control unit then operates causing the robot to recover its attitude and position as defined by the initial state data stored in memory. However, if a predetermined period of time elapses without a recovery command being issued, then speed of the robot is gradually increased from the predetermined low speed until reaching a predetermined target speed. Thereafter, the robot is manually controlled to operate at a constant speed.

Abstract: An aniline derivative of the formula (1) ##STR1## wherein R.sup.1 is an eicosapentaenoyl or docosahexaenoyl; R.sup.2 and R.sup.3 are each independently an alkyl or alkoxy having 1 to 6 carbon atoms, or a halogen atom; R.sup.4 is a hydrogen atom, an alkyl or alkoxy having 1 to 6 carbon atoms, or a halogen atom; and A is a single bond, --C(.dbd.O)NH--(CH.sub.2).sub.n --NH-- wherein n is 2 or 3, or a bivalent group of the following formula ##STR2## wherein m and p are each independently 0 or 1. The aniline derivative of the present invention has high inhibitory activity against and high selectivity for ACAT derived from macrophage and is useful as an agent for the prophylaxis and treatment of arteriosclerosis.

Abstract: A program control system in a multitask environment to execute a plurality of programs in parallel. The system includes a program execution control device for controlling an execution of a plurality of programs, a first program and a second program which are mutually related, a subtask execution recognition device for recognizing a subtask execution command in the first program, and a resumption control device for resuming the first program in response to both a wait command in the first program and an end command in the second program of the task associated with the task of the first program. When the subtask execution command is recognized by the subtask execution recognition device while the first program is being executed, the second program is also executed. When the end command in the second program is detected while the first program is in a wait state under the wait command, the resumption control means allows the program execution control means to resume the first program.

Abstract: A three-dimensional laser beam machining apparatus using a YAG cutting tool. A robot controller functioning as a YAG cutting tool controller is connected to a laser beam supply through a optical fiber and to a robot having an arm end on which the YAG cutting tool is mounted. When a diagrammatic machining command for the YAG cutting tool is given, an first internal program for the diagrammatic machining command and a second internal program for compensating a robot position in a z-axis direction are created. These internal programs are executed in parallel by a multi-task function. The YAG cutting tool is two-dimensionally controlled so as to depict a diagram, such as a rectangle and a circle. When the YAG cutting tool moves across the axis of a cylindrical workpiece, the robot position in the z axis direction is compensated so that the gap between the laser head and an cylindrical surface of the workpiece is kept constant.

Abstract: The present invention relates to a method of automatically assigning a single welding apparatus corresponding to a single robot, which is selected as a control object, in a welding robot system capable of controlling a plurality of robots and a plurality of welding apparatuses with a single control unit. The relations of correspondence between the robots and the welding apparatuses are first predetermined, and the predetermined relations of correspondence are stored in a memory of the control unit. When a single robot is designated through a teaching console panel for executing a given welding operation, the specific welding apparatus corresponding to the designated robot is automatically determined according to the relation of correspondence stored in the storage unit. As a result, the designated robot and the corresponding welding apparatus are started.