Execution device and debug device for motion program

A debugging apparatus for debugging a motion program containing a motion program which contains both a motion instruction for controlling operation of a machine, and an instruction for controlling input/output with respect to an external appliance, comprising:

• a motion executing unit containing an object memory for registering thereinto said motion instruction, an event memory for registering thereinto an execution condition of said motion instruction, and an action memory for registering thereinto an execution command of said motion instruction;
• an IO executing unit containing an object memory for registering thereinto an output instruction used to control an output signal supplied to the external appliance, an event memory for registering thereinto a condition of an input signal state supplied from the external appliance, and an action memory for executing said output instruction;
• an event managing unit containing thereinto an event management table for establishing a relationship between the motion executing unit and the IO executing unit;
• a calendar for detecting both a time instant when an execution condition of the motion program is established and a time instant when an execution command of the motion program is issued;
• and
• an event log processing unit provided with an event log processing unit which stores thereinto the execution condition of the motion program, the content of the execution command, and the time instants detected by said calendar.