公开(公告)号：EP0402483A1

公开(公告)日：1990-12-19

申请号：EP90901022.5

申请日：1989-12-27

申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO

发明人： KUREBAYASHI, T. Yahata Plant K.K.Yaskawa D.S. ,  KURANAGA, S. Yahata Plant K.K.Yaskawa D.S. ,  FUKUNAGA, T. Yahata Plant K.K.Yaskawa D.S. ,  HIDAKA, O. Yahata Plant K.K.Yaskawa D.S.

IPC分类号： G05B19/42 ,  G05B19/403 ,  B25J9/16

CPC分类号： G05B19/414 ,  G05B2219/34365 ,  G05B2219/34367 ,  G05B2219/36511 ,  G05B2219/36514

摘要： 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.

摘要翻译： 在正常执行期间，通过教学数据读取部分（12）读出存储在存储器（7）中的指令，并通过转换部分（9,10）将其发送到分析/执行部分（11,10）以进行解释和执行 。 当对应于输入信号（1-i）的中断信号被中断信号判断任务（2）发送到教学程序分配部分（4）时，暂停执行的程序并将其地址存储在地址存储寄存器（8 ）通过变更部分（9）。 对应于输入信号（1-i）的另一个教学程序通过另一个教学数据读取部分（13）从存储器（7）读出，用于分析执行部分（11）的解释和执行。 当完成另一个教学程序的执行时，寄存器（8）中的地址被发送到读取部分（12），并且中断的教学程序被恢复。