Motion control program, motion control method, and motion control device

A motion control method that is executed by a motion control device for performing motion control of a control target device, the motion control device having a non-real-time operating system (OS) and a real-time OS installed thereon, the method comprising:

• creating an operation channel on a shared memory referable from the non-real-time OS and the real-time OS, wherein the shared memory is shared between a plurality of reception units operating on the non-real-time OS and a channel management unit operating on the real-time OS, wherein the operational channel is common to the plurality of reception units;
• providing, by a reception unit of the plurality of reception units, when receiving a preparation instruction to perform preparation for starting motion control of the control target device from a user-created program associated with the reception unit, via the operation channel, an instruction to generate a control command channel to the channel management unit;
• creating, by the channel management unit, when receiving the instruction from the reception unit, on the shared memory, the control command channel associated with the user-created program that has provided the preparation instruction;
• receiving, by the reception unit, from the user-created program, a control command indicating an operation that should be performed by the control target device over a plurality of motion control cycles;
• storing, in the control command channel, control command information indicating a content of the received control command;
• and
• transmitting, by a fixed-cycle processing unit operating on the real-time OS, to the control target device for each of the plurality of motion control cycles an interpolation command indicating an operation that should be executed for each of the plurality of motion control cycles, based on the control command information obtained from the control command channel, thereby performing motion control of the control target device.

A motion control device for performing motion control of a control target device, the motion control device having a non-real-time OS and a real-time OS installed thereon, comprising:

• a plurality of reception units operating on the non-real-time OS, each of the plurality of reception units being associated with each of a plurality of user-created programs that operates on the non-real-time OS and controls the control target device;
• a channel management unit operating on the real-time OS;
• and
• a fixed-cycle processing unit operating on the real-time OS;
• wherein,
• the channel management unit creates an operation channel on a shared memory referable from the non-real-time OS and the real-time OS, wherein the shared memory is shared between the plurality of reception units operating on the non-real-time OS and the channel management unit operating on the real-time OS, wherein the operational channel is common to the plurality of reception units;
• a reception unit of the plurality of reception units provides via the operation channel, when receiving a preparation instruction to perform preparation for starting motion control of the control target device from the user-created program associated with the reception unit, an instruction to generate a control command channel to the channel management unit;
• the channel management unit creates on the shared memory, when receiving the instruction from the reception unit, the control command channel associated with the user-created program that has provided the preparation instruction;
• the reception unit receives from the user-created program a control command indicating an operation that should be performed by the control target device over a plurality of motion control cycles and stores control command information indicating a content of the received control command, in the control command channel;
• and
• the fixed-cycle processing unit transmits to the control target device for each of the plurality of motion control cycles an interpolation command indicating an operation that should be executed for each of the plurality of motion control cycles, based on the control command information obtained from the control command channel, thereby performing motion control of the control target device.