US 11,794,340 B2
Robot controller
Akihiro Yanagita, Yamanashi (JP); and Takahiro Tanaka, Yamanashi (JP)
Assigned to FANUC CORPORATION, Yamanashi (JP)
Filed by FANUC CORPORATION, Yamanashi (JP)
Filed on Nov. 16, 2020, as Appl. No. 17/99,029.
Claims priority of application No. 2019-222862 (JP), filed on Dec. 10, 2019.
Prior Publication US 2021/0170578 A1, Jun. 10, 2021
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/161 (2013.01) [B25J 9/1656 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A robot controller that controls a robot, the robot controller comprising a processor and a memory that secures a region of shared variables corresponding to a function added to system software, the processor being configured to:
store an address table that contains a plurality of start addresses for additional system software files each used to add a function to system software for the robot controller; and
add a function to the system software on a basis of an additional function file stored in an external memory device,
wherein the processor uses an index value to acquire one of the start addresses for the additional system software files, and
programs contained in the system software and the additional system software files each use a position-independent code based on relative addressing, wherein
the additional system software files are each assigned a unique index value with respect to the address table, and
the additional system software files control the function added to the system software via the shared variables.