A CONTROL SYSTEM FOR REAL TIME APPLICATIONS FOR COOPERATIVE INDUSTRIAL ROBOTS

摘要

A control system adapted for real time applications, comprising means for carrying out the following functions: communication, control of a process or a device, and safety functions. The control system comprises a plurality of function modules (la-1g) adapted for at least carrying out said control function and said safety functions, each function module is adapted for receiving input data and for providing output data, each function module is adapted to carry out a defined task based on said received input data and provide output data based on the task carried out, each function module is adapted to carry out the task during a time period which is independent of what is simultaneously going on in the other modules, and that at least a part of one of said function modules is implemented by means of programmable logic.