US 5,889,924 AGranted

Industrial robots controller

AssigneeKabushiki Kaisha Yaskawa Denki

InventorsKazuo Okabayashi, Kouji Sakanashi

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Abstract

A controller provides effective control of a plurality of control objects performing various cooperative and competitive jobs. The controller includes a first system execution section for storing a set of commands which describe the operation of a plurality of control objects as a first cooperative job and for executing the commands. A second system execution section is also provided for storing additional commands describing the operation of at least one control object other that the plurality of control objects governed by the first execution system and for executing the additional commands. A third system execution section which is included in the controller permits storage of activation commands for activating the first and second system execution sections and allows asynchronous and simultaneous execution of the commands stored in each. The first and second system execution sections have a master/slave relation with one another, one operating as a slave and a remaining one, as a master. The system execution section which operates as the slave utilizes output of the master as a reference to correct execution of the stored commands of its own.

Claims6

Dependent claims

A machine controller for controlling control objects, comprising:

a first system execution means for storing first commands describing operations of at least two control objects, of said control objects for a first cooperative job and for effecting execution of said first commands of said first cooperative job;
a second system execution means for storing second commands describing operations of a first control object of said at least two control objects governed by said first system execution means and at least one other control object, of said control objects and other than said at least two control objects, for a second cooperative job and for effecting execution of said second commands of said second cooperative job;
a third system execution means for storing third commands for starting said first system execution means effecting execution of said first commands and said second system execution means effecting execution of said second commands, and for effecting execution of said third commands asynchronously and simultaneously;
said first and second system execution means having a master-slave relation with one another wherein one of said first and second system execution means operates as a slave and another one of said first and second system execution means operates as a master;
and
said one of said first and second system execution means operating as said slave using an output of said another one of said first and second system execution means as a reference to correct execution of a respective one of said first and second commands stored by said one of said first and second system execution means.

3 more elements

Dependencies are inferred from the claim text.