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    • 2. 发明专利
    • FR2558277B1
    • 1990-08-31
    • FR8500676
    • 1985-01-18
    • HITACHI LTD
    • KATAYAMA MASANORIKOMODA NORIHISAMURATA TOMOHIROKERA KAZUO
    • B25J9/18G05B19/4067G05B19/16G05B19/42G05B23/02
    • In order to execute a series of moving sequences by synchronous and exclusive control of unit operations taught or programed in advance, there are provided a first storing of the relationship of the sequence of execution of each unit operation to other unit operations to be controlled synchronously or exclusively; a second storing of information relating to the operational status of each unit operation; and a third storing of operating instructions for executing each unit operation. When machine tools have stopped due to the occurrence of an abnormality while a series of unit operations are being executed by the operating instructions stored in the third storing means, a unit operation for restarting on the basis of the relationship of the executing sequence stored during the first storing is appointed, and information concerning the operational status stored during the second storing is corrected. Furthermore, at the time when a junction operation in which there exist two or more sequences leading to a unit operation has been executed, a fourth storing is effected during the normal state of the operation steps relating to that execution. Then the content of the information stored during said second storing is corrected to a state permitting restarting from an appointed unit operation by referring to information stored during the fourth storing.
    • 6. 发明专利
    • METHOD AND APPARATUS FOR RECOVERING NORMALITY IN MOVING SEQUENCE OF MACHINERY
    • CA1231422A
    • 1988-01-12
    • CA472405
    • 1985-01-18
    • HITACHI LTD
    • KATAYAMA MASANORIKOMODA NORIHISAMURATA TOMOHIROKERA KAZUO
    • B25J9/18G05B19/4067G05B19/417G05B19/405
    • : In order to execute a series of moving sequences by synchronous and exclusive control of unit operations taught or programmed in advance, there are provided a first storing of the relationship of the sequence of execution of each unit operation to other unit operations to be controlled synchronously or exclusively; a second storing of information relating to the operational status of each unit operation; and a third storing of operating instructions for executing each unit operation. When machine tools have stopped due to the occurrence of an abnormality while a series of unit operations are being executed by the operating instructions stored in the third storing means, a unit operation for restarting on the basis of the relationship of the executing sequence stored during the first storing is appointed, and information concerning the operational status stored during the second storing is corrected. Furthermore, at the time when a junction operation in which there exist two or more sequences leading to a unit operation has been executed, a fourth storing is effected during the normal state of the operation steps relating to that execution. Then the content of the information stored during the second storing is corrected to a state permitting restarting from an appointed unit operation by referring to information stored during the fourth storing.
    • 7. 发明专利
    • METHOD AND APPARATUS FOR CONTROLLING AN OPERATION SEQUENCE OF A MACHINERY
    • CA1216343A
    • 1987-01-06
    • CA453124
    • 1984-04-30
    • HITACHI LTD
    • MURATA TOMOHIROKOMODA NORIHISAHARUNA KOICHI
    • B25J9/18G05B19/418
    • In order to execute a series of operation sequence including synchronization and exclusion for an automatic machine such as a robot by combining pretaught or preprogrammed unit operations, there are provided first memory for storing a start sequence of the unit operations to be synchronized or excluded, second memory for storing operation status of the unit operations and third memory for storing operation command to start the unit operations. The unit operations to be started are determined by referring the start sequence and the operation status of the unit operations read from the memories, and the corresponding operation commands are read out of the third memory to sequentially start the unit operations. In order to execute an repetitive operation of similar works, there is provided fourth memory for storing basic operation patterns common to the repetitive operation in a non-repetitive manner. Further, sub-parameters are generated as many as the number determined by the number of times of repetition required and the content of operation, desired operation content is selected in accordance with the stored basic operation patterns and the generated subparameters, and the selected operation content is executed as many times as the number of sub-parameters, and the number of times of execution of the basic operation pattern executed is counted at an end of a repetitive section.