Industrial robots controller

摘要

PCT No. PCT/JP95/00524 Sec. 371 Date Sep. 16, 1996 Sec. 102(e) Date Sep. 16, 1996 PCT Filed Mar. 22, 1995 PCT Pub. No. WO95/25991 PCT Pub. Date Sep. 28, 1995A controller provides effective control of a plurality of control objects performing various cooperative and competitive jobs. The controller includes a first system execution section for storing a set of commands which describe the operation of a plurality of control objects as a first cooperative job and for executing the commands. A second system execution section is also provided for storing additional commands describing the operation of at least one control object other that the plurality of control objects governed by the first execution system and for executing the additional commands. A third system execution section which is included in the controller permits storage of activation commands for activating the first and second system execution sections and allows asynchronous and simultaneous execution of the commands stored in each. The first and second system execution sections have a master/slave relation with one another, one operating as a slave and a remaining one, as a master. The system execution section which operates as the slave utilizes output of the master as a reference to correct execution of the stored commands of its own.