Autoadaptive working center for programmable automation

In an autoadaptive working center for programmable automation having at least one operating head for performing work on a workpiece, servomotor means for moving said operating head along a predetermined path in at least two coordinates, a central processing unit comprising a program unit for storing the working center program and a processing unit for executing the working center program, said program unit additionally storing position data for defining the path of said operating head and process data for defining the operations to be performed by said operating head at predetermined points along the path of said operating head, and a control unit responsive to the position and process data in said program unit for controlling the operation of said servomotor means, wherein the improvement comprises:

• a plurality of transducers mounted on said operating head for sensing abnormal operating conditions at said operating head different than the operating conditions anticipated by the working center program and generating signals representative of these abnormal operating conditions;
• and
• transmitting means connected to said plurality of transducers for transmitting the signals representative of abnormal operating conditions to said central processing unit, wherein said processing unit further comprises addressing means connected to said transmitting means for generating addresses corresponding to the signals representative of abnormal operating conditions, said addressing means being connected to said program unit for addressing rescue subroutines stored in said program unit corresponding to the different abnormal operating conditions to enable said processing unit to execute a rescue operation on said operating head.