PURPOSE: To attain the continuous cooperative and independent operations by managing the start of the independent control from the cooperative control and also shifting the independent control to the cooperative control after the execution of the independent control is finished.
CONSTITUTION: An execution control part 24 takes every one of instructions of a robot operation program 21 out of a file control part 20 by an operation start command S1 and carries out the cooperative jobs of robots 35 and 36. At the same time, an instruction execution part 28 outputs a start instruction of an independent control program to a program execution management part 32 when the instruction of a cooperative control program is carried out. The part 32 refers to a program execution management table 33 to manage the start of the independent control program that is carried out by the execution control parts 25 and 26 through the cooperative control program. A program synchronism management part 31 refers to the table 33 to inform a caller of the execution state of the program and the robot to be controlled and then carries out the cooperative control program after the execution of the independent control program is finished.
KOGA AYUMI
YAMAMOTO HIDEKI
