VERFAHREN UND GERAET ZUM STEUERN EINES ROBOTERSYSTEMS.

摘要

When a robot system has a program module group (31 - 36) within a central control unit (30) for performing required program processing, the associated portions of the robot (11 - 15, 11 min - 13 min ), and a plurality of peripheral control modules (16 - 20) for controlling the associated portions (11 - 15, 11 min - 13 min ) of the robot, a communication module (37) is provided to perform communication between the modules. In the system there is provided with a queue buffer (39) for sequentially storing the present status information, a source module name, and the message. The communication module (37) monitors transmission from the respective module, stores a message in the queue buffer (39), forms a transmit request list (41), sequentially receives the destination module name and the message in accordance with a reception procedure of the source module, and stores the source name module and the message in the queue buffer (39) in accordance with the destination module. Subsequently, the communication module (37) sequentially searches the message to be transmitted in a queue buffer (39), and checks the status of the destination modules. If the status of a destination module is set in an enabled state, the message is transmitted in accordance with a transmission procedure of the destination module. If not, the message is left in the queue buffer (39) and will be transmitted in the next transmission cycle.