摘要 |
<p>A method and apparatus for real time editing, or modifying, of a stored program of prerecorded ON and OFF commands for a bistable workpiece-treating device mounted for movement by a robot. The editing occurs while both the ON/OFF program and a program of prerecorded robot motion commands which drive the robot are being processed by the robot controller, with the ON/OFF commands, as edited, being output to the bistable device for execution along with the robot commands, as well as stored in the memory as substitute commands for subsequent re-execution.</p> |