Title:
CONTROL METHOD FOR ROBOT
Document Type and Number:
WIPO Patent Application WO/1990/007739
Kind Code:
A1
Abstract:
An execution method for a teaching program is disclosed which can execute another teaching program at an arbitrary point during the execution of one teaching program. During normal execution, an instruction stored in memory (7) is read out via a teaching data read section (12) and is sent to an analysis/execution section (11) through change-over section (9, 10) for interpretation and execution. When interrupt signals corresponding to input signals (1 ~ i) are sent by an interrupt signal judgement task (2) to a teaching program allocation section (4), the program in execution is suspended and its address is stored in an address storing register (8) through the change-over section (9). Another teaching program corresponding to the input signals (1 ~ i) is read out via another teaching data read section (13) from the memory (7) for interpretation and execution by the analysis execution section (11). When the execution of another teaching program is completed the address in the register (8) is sent to the read section (12) and the interrupted teaching program is resumed.
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Inventors:
KUREBAYASHI TOSHIYUKI (JP)
KURANAGA SATOSHI (JP)
FUKUNAGA TATSUYA (JP)
HIDAKA OSAMU (JP)
KURANAGA SATOSHI (JP)
FUKUNAGA TATSUYA (JP)
HIDAKA OSAMU (JP)
Application Number:
PCT/JP1989/001313
Publication Date:
July 12, 1990
Filing Date:
December 27, 1989
Export Citation:
Assignee:
YASKAWA DENKI SEISAKUSHO KK (JP)
International Classes:
B25J9/18; G05B19/4067; G05B19/414; G05B19/42; B25J9/16; (IPC1-7): B25J9/16; G05B19/403; G05B19/42
Foreign References:
| JPS61161513A | 1986-07-22 | |||
| JPH05760408A |
Other References:
See also references of EP 0402483A4
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