Function-distributed control apparatus

A control apparatus for controlling a machine, comprising:

• a first bus;
• a second bus;
• at least one processor element including a first processing unit connected to at least said first bus, a second processing unit connected to at least said second bus, and first communication means connected to said first processing unit and said second processing unit and including first memory means accessible to both said processing units, said first processing unit deciding a general sequence of motion control of said machine, and said second processing unit obtaining information of said general sequence from said first processing unit and deciding a detailed sequence for effecting said general sequence;
• and
• a motion control subsystem including a third processing unit and obtaining information of constituent steps of said detailed sequence from said second processing unit and executing said steps on said machine, said third processing unit being connected to said second bus via second communication means;
• said second communication means including interrupt signal generating means responsive to a request from said third processing unit for transmitting an interrupt signal to said processor element;
• said first bus being connectable to a communication subsystem for communicating with an external system which cooperates with said first processing unit in deciding said general sequence.