JPH02234204A - Executing device for robot language - Google Patents

Abstract

PURPOSE:To enable a user to optionally designate a parallel I/O instruction without giving any consideration to the synchronization between the execution of a program and that of the parallel I/O instruction by holding the end of execution of the I/O instruction until the end of execution of a sequential executing instruction. CONSTITUTION:A program starting part 4 is prepared together with a following instruction reading part 5, an instruction deciding part 6, a sequential instruction executing part 7, a parallel instruction executing part 8, a parallel instruction end holding part 9, and a program end executing part 10. If a program execution end instruction is produced during execution of a program, this instruction is held until the end of a parallel I/O instruction under execution in order to prevent the end of execution of the program. As a result, a user can optionally designate the execution of the I/O instruction without giving any consideration to the synchronization between the execution of a program and that of an I/O instruction.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to a blog program containing parallel input/output (I/O) instructions. Regarding the robot language execution device that executes the system, especially parallel input/output (I/O) until the end of execution of sequential execution instructions.
The present invention relates to a robot language execution device that automatically waits for the completion of execution of instructions.

(Prior Art) As a conventional robot language execution device of this type, there has been one shown in FIG. FIG. 4 shows a schematic block diagram of a conventional robot language execution device. In the figure, the conventional robot language execution device includes a program startup section (4) that starts a program to be executed, and a program startup section (4) that starts a program to be executed. In part (4), a next instruction reading unit (5) reads the next instruction of the program after startup, and the instruction read by the next instruction reading unit (5) is a sequential execution instruction or is executed in parallel with the sequential execution instruction. An instruction determining unit (6) that determines whether a parallel I/O instruction can be processed; and a sequential instruction execution unit (6) that executes a sequentially executing instruction when the instruction determining unit (6) determines that the instruction is a sequentially executed instruction. 7), and when the instruction determination unit (6) determines that it is a parallel I/O instruction, this parallel! a parallel instruction execution unit (8) that executes the /0 instruction, and reads the next instruction from the next instruction reading unit (5) sequentially without waiting for the completion of the execution while the parallel instruction execution unit (8) is executing. This is the configuration to execute. Next, the operation of the conventional device based on the above configuration will be explained with reference to FIGS. 5 to 7. Figure 's5 above is a connection diagram showing the connection relationship with external devices, Figure N6 is an operation flowchart showing the operating procedure, and Figure 7 is a parallel execution command with sequential execution instructions! /
This is a timing chart with the 0 instruction. *When the program execution starts in the program startup part (4),
Instructions of the program are sequentially read from the next instruction reading section (5), and the instruction determination section (6) determines whether the read instructions are sequential execution instructions or parallel I/O instructions (step 1). The above command. If the determination unit (6) determines that the instruction is a parallel I/O instruction (step 1), the parallel instruction execution unit (8) executes this parallel I/O instruction and executes the next instruction without waiting for the completion of this execution. The instruction is read from the next instruction reading Δ section (5).

Further, when the instruction determination unit (6) determines that the instruction is ENI) (step 1), the parallel! The /0 command causes the program to terminate regardless of the execution of parallel processing instructions (step 3). [Problem to be solved by the invention] Since the conventional robot language execution device is configured as described above, it is difficult for the user to perform processing for synchronizing program execution and parallel I/O instruction execution. It is necessary to specify something in the program, and since the specification varies depending on the application of the program, it is extremely difficult to specify it. This invention was made in order to solve the above problems, and provides a parallel I/O instruction that allows the user to specify parallel I/O instructions without considering the synchronization between program execution and parallel I/O instructions. The object of the present invention is to obtain a robot language execution device that can execute programs including O instructions.

[Means to solve the problem]

The robot language execution device according to the present invention uses an instruction determining means to determine whether a Brodarum sequential execution instruction or a parallel input/output instruction is executed, and during execution of the determined parallel input/output instruction, a program execution termination instruction is issued by a sequential execution instruction. When this is issued, the parallel instruction completion wait means waits for the program execution termination instruction until the execution of the parallel input/output instruction being executed is completed. (Operation) When a program execution end command is output during program execution, the robot language execution device according to the present invention waits for the program execution end command until the end of the execution of the parallel human output command being executed, and ends the program execution. It is automatically blocked. (Embodiment) An embodiment of the present invention will be described below with reference to FIGS. 1 to 3. FIG. 1 is a schematic configuration diagram of the robot language execution device according to this embodiment, FIG. 2 is an operation flowchart of the device of this embodiment, and FIG. 3 is a sequential execution instruction and parallel I/O instruction in the device of this embodiment. The timing chart is shown below. In each of the above figures, the robot language execution device according to the present embodiment is connected to the program starting section (4) of the conventional device.
, a next instruction reading section (5), an instruction determination section (6), a sequential instruction execution section (7), and a parallel instruction execution section (8), and the parallel T/ 0 instruction, and this parallel I/O instruction is executed by the parallel instruction execution unit (
In step 8), when the END instruction of the program is issued during execution, a parallel instruction completion waiting section (9) is added that makes the END instruction wait until the execution of the parallel I/O instruction being executed is completed.

Next, the operation of the device of this embodiment based on the above configuration will be explained. First, when the program is started by the program starting section (4), the next instruction is read by the next instruction reading section (5). The instruction content of this read instruction is determined by the instruction determination unit (6), and if it is a sequential execution instruction, the sequential instruction execution unit (
7), and when this execution is completed, the next instruction is read again from the next instruction reading section (5). If it is a parallel I/O instruction that can be processed in parallel according to the judgment of the instruction judgment unit (6), this parallel I/O instruction is executed by the parallel instruction execution unit (8), and the parallel I/O instruction of: The next instruction is read from the next instruction reading part (5) without waiting for the completion of the next instruction. If the read instruction is an END instruction to end the program, check step 1) to see if the above parallel 1/0 instruction is being executed (step 2), and check if the parallel I/O instruction is being executed. If so, EN
The D instruction is made to wait in the parallel instruction completion standby unit (9), waits for the completion of execution of the parallel t/0 instruction, and then the program termination execution unit (10) executes the program termination (step 3).
).

〔Effect of the invention〕

As described above, according to the present invention, when a program execution termination instruction is issued during program execution, the program execution termination instruction is made to wait until the execution of the parallel input/output instruction being executed is completed, and the execution of the program is terminated. The configuration prevents the user from running the program in parallel! This has the effect that execution of a parallel input/output instruction can be specified arbitrarily without considering the synchronization of execution of the /0 instruction.

[Brief explanation of the drawing]

FIG. 1 is a schematic configuration diagram of a robot language execution device according to an embodiment of the present invention, FIG. 2 is an operation flowchart of the device shown in FIG. 1, and FIG. 3 is a sequential execution instruction diagram in the device shown in FIG. A timing chart of ≧ and parallel I/(l commands, Fig. 4 is a schematic configuration of a conventional robot language execution device, Fig. 5 is a connection diagram showing the connection relationship with external equipment, and Fig. 6 is a conventional device Figure 7 shows a timing chart of sequential execution instructions and parallel I/O instructions in a conventional device. Instruction determination unit (7...Sequential instruction execution unit (8)...Parallel instruction execution unit (9)...Parallel instruction completion waiting unit (10)...Program end T execution unit Note that the same reference numerals are used in each figure. indicates the same or equivalent parts. Figure 1 Figure 2

Claims (1)

[Claims] In a robot language execution device that executes a robot language that includes a parallel input/output instruction that can be executed in parallel to the sequential execution instruction of a program, the input instruction is either a sequential execution instruction or a parallel input/output instruction. an instruction determining means for determining whether the parallel input/output instruction is the parallel input/output instruction; A robot language execution device comprising: parallel instruction completion waiting means for waiting for a program execution end instruction.