Controller support device, method, and recording medium

A method for executing a controller support program in a controller support device, including a storage and an arithmetic unit, that is configured to support use of a controller controlling a control target, the method comprising:

• executing, by the controller, a plurality of control programs in each control cycle according to an execution priority set on each of the control programs and an execution cycle that is an integral multiple of the control cycle,
• wherein the controller assigns a different priority to each of the plurality of control programs and executes the plurality of control programs in accordance with the assigned different priorities, such that execution of a lower priority control program is interrupted as necessary by an execution of a higher priority control program, and
• wherein the higher priority control program includes a motion command to perform motion control and a motion arithmetic program that is executed by performing the motion command, and the lower priority control program does not include a motion command;
• storing, in the storage, the controller support program and the plurality of control programs;
• and
• causing, by execution of the controller support program, the arithmetic unit to execute total execution time acquisition processing of acquiring a total execution time and output processing of outputting the total execution time, the total execution time being an elapsed time until execution of the control program is ended in the execution cycle from when the corresponding execution cycle is started when the controller executes the plurality of control programs according to the respective execution priorities and the respective execution cycles, the total execution time being a time measured in the controller or a time estimated in the controller support device.

A non-transitory recording medium in which a controller support program is stored, the controller support program being executed in a controller support device, configured to support use of a controller controlling a control target, to perform operations, comprising:

• executing, by the controller, a plurality of control programs in each control cycle according to an execution priority set on each of the control programs and an execution cycle that is an integral multiple of the control cycle,
• wherein the controller support device includes a storage and an arithmetic unit,
• wherein the controller assigns a different priority to each of the plurality of control programs and executes the plurality of control programs in accordance with the assigned different priorities, such that execution of a lower priority control program is interrupted as necessary by an execution of a higher priority control program, and
• wherein the higher priority control program includes a motion command to perform motion control and a motion arithmetic program that is executed by performing the motion command, and the lower priority control program does not include a motion command;
• storing, in the storage, the controller support program and the plurality of control programs;
• and
• causing, by execution of the controller support program, the arithmetic unit to execute total execution time acquisition processing of acquiring a total execution time and output processing of outputting the total execution time, the total execution time being an elapsed time until execution of the control program is ended in the execution cycle from when the corresponding execution cycle is started when the controller executes the plurality of control programs according to the respective execution priorities and the respective execution cycles, the total execution time being a time measured in the controller or a time estimated in the controller support device.