Patent US 6,912,430

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. The apparatus comprises a motion executing unit, an IO executing unit and an event managing unit. The motion executing unit contains an object memory for registering the motion instruction. An event registers an execution condition of the motion instruction. An action memory registers an execution command of the motion instruction. The IO executing unit contains an object memory for registering an output instruction used to control an output signal supplied to the external appliance. An event memory registers a condition of an input signal state supplied from the external appliance. An action memory executes the output instruction. The event managing unit registers an event management table for establishing a relationship between the motion executing unit and the IO executing unit before executing the motion instruction.