| 摘要 |
PROBLEM TO BE SOLVED: To shorten the work cycle time of the execution processing system of a robot, which permits the robot to sequentially execute operation programs obtained by making a series of operations in n-stages into blocks. SOLUTION: The execution processing system of a robot is provided with n-pieces of sub-programs (i=1, 2..., n) which continuously execute operation programs from the i-th operation program to the n-th operation program in n-stages, a branch means branching a main program into the first sub-program (i=1) among n-pieces of sub-programs and a branch instruction means which always records what is the operation program during an execution by the sub- program and instructs the change of the sub-program started from the operation program interrupted by the temporary stop of the execution processing system based on recording as a branch destination to the branch means when the execution processing system of the robot is resumed after it temporarily stops.
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