Abstract: A control device includes a processor, a storage, and a scheduler. The storage includes a first program for real time control processing of the control target, the first program having a highest priority of execution executed by the processor in the period, a second program for related processing related to real time control, the second program having a lower priority of execution than that of the first program, and a third program of a system service, the third program having a lower priority of execution than that of the second program and being executed when a spare time of the processor exists in the period. The scheduler interrupts the execution of the second program to start the execution of the third program when the execution of the second program is started and then when a predetermined type of an instruction code is executed in the second program within the period.

Abstract: The present disclosure provides a configuration of a control device that is capable of controlling the execution timing, etc. of multiple application programs when the multiple programs are executed in parallel in addition to a sequence program in a single control device. In the control device, when a first application program includes a first special command and a second application program includes a second special command, a command calculation part outputs a control command according to commands described after the first special command in the first application program and a control command according to commands described after the second special command in the second application program on the basis of a common timing.

Abstract: The present disclosure provides a configuration of a control device that is capable of controlling the execution timing, etc. of multiple application programs when the multiple programs are executed in parallel in addition to a sequence program in a single control device. In the control device, when a first application program includes a first special command and a second application program includes a second special command, a command calculation part outputs a control command according to commands described after the first special command in the first application program and a control command according to commands described after the second special command in the second application program on the basis of a common timing.

Abstract: A control device includes at least a first task that has a first priority including processing execution performed by a program execution part and a command calculation part, a second task that has a second priority, lower than the first priority, including processing execution performed by a parsing part, and a third task that has a third priority including execution of a processing content different from the first task and the second task are set in a scheduler. The control device further includes a priority changing part monitoring a processing state of the parsing part, and when the processing state of the parsing part meets a predetermined condition, changing the second priority set to the second task corresponding to the condition.

Abstract: The present disclosure meets demand to realize control computations according to programs having different execution formats by a single control device. The control device includes a storage unit storing a first program to be scanned as a whole for each execution and a second program that is sequentially executed, an execution processing unit computing a first command value by executing the first program at every predetermined control cycle, an interpreter interpreting at least a part of the second program and generating an intermediate code, a command value computation unit computing a second command value at every control cycle according to the intermediate code generated in advance by the interpreter, and an output unit outputting the first command value computed by the execution processing unit and the second command value computed by the command value computation unit at every control cycle.

Abstract: A controller allows easy synchronization between a plurality of control programs executed in parallel to control a plurality of motors. The control programs are executed cyclically in parallel in predetermined execution cycles. Timing data for synchronizing the execution timing of the control programs is transmitted and received between the control programs. After control program 1 is executed, an axis variable to be referred to by the control program 2 is copied from an execution area of the memory for the control program 1 into a buffer area for the control program 2.

Abstract: A control device and a control method capable of realizing control based on a sequence program and control based on a numerical control program with a smaller number of process steps are provided. The control device that is capable of controlling a plurality of motors includes: a first program executing unit that executes a sequence program for each control cycle; a second program executing unit that calculates an instruction value for each motor in accordance with a numerical control program; and a state managing unit that manages a control state correlated with a group including a plurality of predetermined motors of the plurality of motors. The state managing unit updates the control state based on at least one of an instruction from the first program executing unit and an execution state of the numerical control program in the second program executing unit.

Abstract: An environment for easily executing a plurality of types of programs in cooperation with each other is provided. A control device includes: a first program executing unit that executes a sequence program for each first control cycle and calculates a first instruction value; a second program executing unit that executes an application program which is described in codes which are sequentially interpreted and calculates a second instruction value for each first control cycle; and a shared memory configured to be accessible by both the first program executing unit and the second program executing unit. The second program executing unit executes the application program while referring to the first shared variable value stored in the shared memory in accordance with the codes described in the application program.

Abstract: The present disclosure provides a configuration of a control device that is capable of controlling the execution timing, etc. of multiple application programs when the multiple programs are executed in parallel in addition to a sequence program in a single control device. In the control device, when a first application program includes a first special command and a second application program includes a second special command, a command calculation part outputs a control command according to commands described after the first special command in the first application program and a control command according to commands described after the second special command in the second application program on the basis of a common timing.

Abstract: A configuration of a control device capable of efficiently operating multiple types of programs in different execution formats on a single control device is provided. At least a first task that has a first priority including processing execution performed by a program execution part and a command calculation part, a second task that has a second priority, lower than the first priority, including processing execution performed by a parsing part, and a third task that has a third priority including execution of a processing content different from the first task and the second task are set in a scheduler. The control device further includes a priority changing part monitoring a processing state of the parsing part, and when the processing state of the parsing part meets a predetermined condition, changing the second priority set to the second task corresponding to the condition.

Abstract: A control device and a control method capable of realizing control based on a sequence program and control based on a numerical control program with a smaller number of process steps are provided. The control device that is capable of controlling a plurality of motors includes: a first program executing unit that executes a sequence program for each control cycle; a second program executing unit that calculates an instruction value for each motor in accordance with a numerical control program; and a state managing unit that manages a control state correlated with a group including a plurality of predetermined motors of the plurality of motors. The state managing unit updates the control state based on at least one of an instruction from the first program executing unit and an execution state of the numerical control program in the second program executing unit.

Abstract: An environment for easily executing a plurality of types of programs in cooperation with each other is provided. A control device includes: a first program executing unit that executes a sequence program for each first control cycle and calculates a first instruction value; a second program executing unit that executes an application program which is described in codes which are sequentially interpreted and calculates a second instruction value for each first control cycle; and a shared memory configured to be accessible by both the first program executing unit and the second program executing unit. The second program executing unit executes the application program while referring to the first shared variable value stored in the shared memory in accordance with the codes described in the application program.

Abstract: The present disclosure meets demand to realize control computations according to programs having different execution formats by a single control device. The control device includes a storage unit storing a first program to be scanned as a whole for each execution and a second program that is sequentially executed, an execution processing unit computing a first command value by executing the first program at every predetermined control cycle, an interpreter interpreting at least a part of the second program and generating an intermediate code, a command value computation unit computing a second command value at every control cycle according to the intermediate code generated in advance by the interpreter, and an output unit outputting the first command value computed by the execution processing unit and the second command value computed by the command value computation unit at every control cycle.

Abstract: A control device includes an interface for outputting a command value to a motor driver adapted to drive a motor, a storage portion adapted to store one or more commands for specifying a behavior of the motor driven by the motor driver, and a processing portion including a first arithmetic circuit and a second arithmetic circuit. The first arithmetic circuit is adapted to execute a first process for successively interpreting the one or more commands stored in the storage portion and for successively calculating a parameter set which defines a function relating to calculation of the command value. The second arithmetic circuit is adapted to execute a second process for calculating the command value based on the successively-calculated parameter set, in each predetermined control cycle, independently of the first process.

Abstract: A controller allows easy synchronization between a plurality of control programs executed in parallel to control a plurality of motors. The control programs are executed cyclically in parallel in predetermined execution cycles. Timing data for synchronizing the execution timing of the control programs is transmitted and received between the control programs. After control program 1 is executed, an axis variable to be referred to by the control program 2 is copied from an execution area of the memory for the control program 1 into a buffer area for the control program 2.

Abstract: A system includes a first execution control instruction to start execution of a first control program every first execution cycle of the same period as a control cycle period and a second execution control instruction to start execution of a second control program every second execution cycle whose period is an integral multiple of at least twice the control cycle period. The second execution control instruction includes an instruction to start, in a control cycle in which a second execution cycle starts, execution of the second control program after the end of execution of the first control program, and if the second control program is not completed before the end of the control cycle, to start execution of an unexecuted part of the second control program after the end of execution of the first control program in the next control cycle.

Abstract: There is provided a synchronous control apparatus, a synchronous control method, and a computer-readable recording medium recording the synchronous control program, which enable an impact applied to a driven shaft to be alleviated, and synchronous control to be started at a synchronization start position. A specifier that specifies a synchronization start position where a main shaft and a driven shaft start synchronization. A cam curve creator that creates a cam curve. A detector that detects position information of the main shaft in each control period. A controller that calculates a velocity command value to the driven shaft in each control period and calculates the velocity command value to the driven shaft in each control period, and the driven shaft is controlled with the calculated velocity command value.

Abstract: A system includes a first execution control instruction to start execution of a first control program every first execution cycle of the same period as a control cycle period and a second execution control instruction to start execution of a second control program every second execution cycle whose period is an integral multiple of at least twice the control cycle period. The second execution control instruction includes an instruction to start, in a control cycle in which a second execution cycle starts, execution of the second control program after the end of execution of the first control program, and if the second control program is not completed before the end of the control cycle, to start execution of an unexecuted part of the second control program after the end of execution of the first control program in the next control cycle.