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Controller for automatic assembling apparatus
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Inventors: Yamamoto, Toshihiro; Azuma, Yusaku; Yasuhara, Masateru; Tanita, Takeo; Kasai, Shozo;
Assignee: Canon Kabushiki Kaisha (Tokyo, JP)
Primary Examiner: Smith; Jerry
Assistant Examiner: Trammell; Jim
Attorney, Agent or Firm: Fitzpatrick, Cella, Harper & Scinto
A controller for an automatic assembling apparatus consisting of a plurality of operation units each of which has a variety of devices to be driven and which perform independent, different operations under the program control is disclosed. This controller includes a host control unit expressing a sequence control portion of program control for the plurality of operation units by multitask program control, a plurality of lower-order control units having control programs for controlling an independent operation of each of the plurality of devices to be driven, and a shared memory which is connected to the host control unit and the plurality of lower-order control units, and is shared and accessed by the host control unit and the lower-order control units. |
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DETAILED DESCRIPTION The present invention has been made in consideration of the above situation and has as its object to provide a controller for an automatic assembling apparatus which need not be extended unlike a conventional controller even if a control size of the automatic assembling apparatus is increased.
In order to achieve the above object, according to the present invention, a controller for an automatic assembling apparatus consisting of a plurality of operation sections each of which has a variety of devices to be driven and which perform independent, different operations under the program control, comprises a host control unit which control a sequence control portion of program control for each of the plurality of operation sections as multitask program control, a plurality of lower-order control units having control programs for controlling an independent operation of each of the plurality of devices to be driven, and shared resource means which is connected to the host control unit and the plurality of lower-order control units, and is shared and accessed by all these control units.
According to the present invention with the above arrangement, even if the control size of the automatic assembling apparatus is increased, a sequence control portion of program control for an operation section associated with an increased portion can be coped with by an increase in the number of programs under the multitask control.
Since a program of each lower-order control unit simply expresses an independent operation of each device to be driven, even if devices to be driven are increased in number due to an increase in control scale, only programs expressing independent operations of the increased devices to be driven are added.
According to an aspect of the present invention, a program for each of the plurality of operation sections has a step of driving the device to be driven.
The multitask program has a routine of interpreting the step of driving the device to be driven, breaking down the step to a simplified instruction for an independent operation of each device to be driven, and storing the instruction in the shared resource means
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