A robot, DI/DO devices, and an operation panel in an automated production system workcell are controlled by a single workcell controller 17. Workcell operation software 31, a workcell operation language processor 32 and a workcell control driver 33 for realtime control run on the controller 17. The workcell...http://www.google.com/patents/US5574637?utm_source=gb-gplus-sharePatent US5574637 - Control apparatus for an automated production system workcell
