Control system for program controlled manipulator having multiple triggered functions between programmed points
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United States of America Patent
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Aug 4, 1987
Grant Date -
N/A
app pub date -
Feb 20, 1986
filing date -
Feb 20, 1986
priority date (Note) -
Expired
status (Latency Note)
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Abstract
An apparatus is provided for controlling the execution of functions associated with the automatic operation of a manipulator. While traditional function execution has been associated with arrival of a workpoint at or proximate to a predetermined point, the present invention provides for plural function execution between predetermined points. Two alternative embodiments are provided: a first embodiment controls a single output interface type and is unrelated to functions associated with predetermined points; a second embodiment provides multiple executions of any function normally associated with a predetermined point. Spacing between function executions associated with either embodiment is controlled as a function of distance specified by the operator. To produce a desired spacing, feedrate reduction is automatically effected in the event a programmed feedrate is incompatible with a specified function execution interval.
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