control device

Abstract

Provided is a control apparatus (1) that can, by causing multiple control programs that include motion computation programs to be executed in parallel, shorten the execution cycle of control programs that are executed cyclically. A microprocessor (100) is configured to execute multiple control programs in parallel. When executing communication commands included in control programs that are to be executed in parallel, a scheduling program causes the microprocessor (100) to execute the communication commands such that there is no competition between communication processes in a communication controller (150).

Description

technical field [0001] The present invention relates to scheduling for executing a control program using a multi-core processor in a control device used to control the operation of machinery or equipment. Background technique [0002] Motion control for controlling the movement of motors is sometimes included as motion control for machinery, equipment, and the like. Such motion control is typically known as a programmable controller (programmable controller), which utilizes a CPU to execute a motion calculation program and sequence (sequence) calculations, and the motion calculation program is used to periodically control the output command value of the motor driver. [0003] For example, Patent Document 1 discloses that a programmable controller executes an operation calculation program to periodically output command values ​​to a motor driver for driving a motor. [0004] In Patent Document 1, a first control program (short-cycle operation program) and a second operation...

AI Technical Summary

Problems solved by technology

[0010] In the control device described in Patent Document 1, the short-cycle operation program is executed with priority, and the long-cycle operation program is executed after the short-cycle operation program is completed. Therefore, the time during which the long-cycle operation program can be executed is limited.

The motion calculation program needs to periodically output command values ​​to control objects such as motors. Therefore, it is necessary to set the execution cycle of the long-cycle motion program after estimating the execution time of the short-cycle motion program, resulting in a longer execution cycle of the long-cycle motion program.

[0011] In addition, whenever a plurality of control programs including motion calculation programs for execution by the control device are generated, it is necessary to design the input object of the input data to be executed, that is, the device, the execution cycle, or the timing of execution, which increases the burden on the user.

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