| 摘要 |
<p>The invention relates to a control system (7) for an industrial robot, comprising a program storage (9) for storage a robot program comprising one or more program routines (17a, 17b) including a series of robot program instructions and an error handler for taking care of errors coming up in the program instructions of the program routine, and a program executer (3) adapted to execute the stored robot program instructions by sending orders to a performing unit (15). The program executer sends together with the order an identifier (21), which identifies the program routine comprising the instruction in the robot program which issued the order, and the performing units sends upon detecting an error, an error report including the identifier to the program executer, and the program executer, upon receiving said error report from any of the performing units, runs the error handler of the program routine identified by the received identifier.</p> |
