Control systems for setting sampling timing

A control system, comprising:

• a Programmable Logic Controller (PLC) comprising a first processor configured with a first program to perform operations comprising:
• operation as an input unit configured to obtain actual sampling data comprising a first sampling value and a first sampling timing that are associated with each other, the first sampling value comprising a value of an input signal obtained by sampling the input signal at the first sampling timing, the first sampling timing comprising a timing at which the input signal is sampled,
• operation as an output unit configured to output an output signal based on output instruction data comprising a designated output timing and a designated output signal value, the output signal to be output to a target device,
• operation as a task execution unit configured to repeatedly execute a task in a predetermined period, the task comprising I/O refresh processing for updating a value of an input variable associated with the input signal and updating the output signal based on an output variable associated with the output signal, and to perform operations of a user program, the operations of the user program comprising calculating a value of the output variable by executing the user program based on the input variable, calculating the designated output timing and the designated output signal value based on the value of the output variable to generate the output instruction data, and transmitting the output instruction data to the output unit, and
• operation as a sampling unit configured to obtain variable sampling data comprising a second sampling value and a second sampling timing that are associated with each other, wherein the second sampling value is obtained by sampling the input variable, the output variable, and an internal variable used in the user program at the second sampling timing, the second sampling timing comprising a timing at which the input variable, the output variable, and the internal variable are sampled;
• and
• a development support apparatus comprising a second processor configured with a second program to perform operations comprising:
• operation as a same time-series data generation unit configured to generate same time-series data comprising the first sampling timing, the second sampling timing, and the designated output timing arranged in a same time series, wherein respective timings of the first sampling value, the second sampling value, and the designated output signal value are in the same time series corresponding to the first sampling timing, the second sampling timing, and the designated output timing, and
• operation as a same time-series data display unit configured to display the same time-series data on a same time axis, wherein the target device is a motor, and wherein the position and motion of a rotating shaft of the motor are controlled according to the updated output signal.