| 摘要 |
<p>PURPOSE:To offer program execution history information in valid form. CONSTITUTION:An execution history data area and a write buffer area specification buffer counter are set in the memory of the robot controller. A counter value (i) is initially set to N (S1), one line of a program is read out (S2), and the program name pr, line number 1, a forward/backward execution discrimination code (f), and an execution state code (s) are written in an area (i) (S3). The code (s) indicates a nonexecution/temporary stop/execution discrimination as to the line. When a process such as robot operation is started (S4 S5) and the execution of the line is completed, the code (s) in the area (i) is rewritten (S7) from nonexecution (0) to execution completion (2) and the counter value is decreased (S8) by one. The counter value is reset when necessary (S9 and S1) and the process following S2 are repeated. When a temporary stop of the program occurs at some line, an advance from S6 to S10 is made, the code (s) in the area of the counter value (i) at the point of time is rewritten from 0 (nonexecution) to 1 (temporary stop), and an alarm signal, etc., is generated (S11). The program execution history is reproduced on a proper display.</p> |
