Patent ID: 6912430

Claim:
An executing apparatus for executing a motion program which contains both a motion instruction for controlling operation of a machine, and an instruction for controlling input/output with respect to an external appliance, comprising: a motion executing unit containing an object memory for registering thereinto said motion instruction, an event memory for registering thereinto an execution condition of said motion instruction, and an action memory for registering thereinto an execution command of said motion instruction; an I/O executing unit containing an object memory for registering thereinto an output instruction used to control an output signal supplied to the external appliance, an event memory for registering thereinto a condition of an input signal state supplied from the external appliance, and an action memory for executing said output instruction; and an event managing unit for registering thereinto an event management table for establishing a relationship between the motion executing unit and the I/O executing unit before executing the motion instruction.