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 OS and a real-time OS installed thereon, wherein

• the motion control device comprising:
• a reception unit operating on the non-real-time OS;
• a storage unit operating on the real-time OS;
• a command processing unit operating on the real-time OS;
• and
• a fixed-cycle processing unit operating on the real-time OS;
• wherein
• the motion control method comprising:
• a step in which the reception unit receives a control command indicating an operation that should be performed by the control target device over a plurality of motion control cycles, from a user-created program for controlling the control target device and stores control command information indicating a content of the received control command, in a control command channel which is reserved in a shared memory referable from the non-real-time OS and the real-time OS;
• a step in which the storage unit obtains the control command information from the control command channel and stores the obtained control command information in a FIFO queue;
• a step in which the command processing unit retrieves the control command information from the FIFO queue and passes it to the fixed-cycle processing unit;
• and
• a step in which the fixed-cycle processing unit transmits to the control target device for each of the motion control cycles an interpolation command indicating an operation that should be executed for each of the motion control cycles, based on the control command information passed from the command processing unit, 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 reception unit operating on the non-real-time OS;
• a storage unit operating on the real-time OS;
• a command processing unit operating on the real-time OS;
• and
• a fixed-cycle processing unit operating on the real-time OS;
• wherein
• the reception unit receives a control command indicating an operation that should be performed by the control target device over a plurality of motion control cycles, from a user-created program for controlling the control target device, and stores control command information indicating a content of the received control command, in a control command channel which is reserved in a shared memory referable from the non-real-time OS and the real-time OS;
• the storage unit obtains the control command information from the control command channel and stores the obtained control command information in a FIFO queue;
• the command processing unit performs retrieval processing of retrieving the control command information from the FIFO queue and passing it to the fixed-cycle processing unit;
• and
• the fixed-cycle processing unit transmits to the control target device for each of the motion control cycles an interpolation command indicating an operation that should be executed for each of the motion control cycles, based on the control command information passed from the command processing unit, thereby performing motion control of the control target device.

A computer-readable non-transitory storage medium storing a motion control program that is executed by a computer for performing motion control of a control target device, the computer having a non-real-time OS and a real-time OS installed thereon, wherein the motion control program causes the computer to perform operations, the operations comprising:

• receiving, by a reception unit operating on the non-real-time OS, a control command indicating an operation that should be performed by the control target device over a plurality of motion control cycles, from a user-created program for controlling the control target device;
• and
• storing control command information indicating a content of the received control command, in a control command channel which is reserved in a shared memory referable from the non-real-time OS and the real-time OS;
• obtaining, by a storage unit operating on the real-time OS, the control command information from the control command channel and storing the obtained control command information in a FIFO queue;
• performing, by a command processing unit operating on the real-time OS, retrieval processing of retrieving the control command information from the FIFO queue and passing it to a fixed-cycle processing unit operating on the real-time OS;
• and
• transmitting, by the fixed-cycle processing unit, 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 passed from the command processing unit, thereby performing motion control of the control target 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 OS and a real-time OS installed thereon, the motion control method comprising:

• receiving, by a reception unit operating on the non-real-time OS, a control command indicating an operation that should be performed by the control target device over a plurality of motion control cycles, from a user-created program for controlling the control target device;
• and
• storing control command information indicating a content of the received control command, in a control command channel which is reserved in a shared memory referable from the non-real-time OS and the real-time OS;
• obtaining, by a storage unit operating on the real-time OS, the control command information from the control command channel and storing the obtained control command information in a FIFO queue;
• retrieving, by a command processing unit operating on the real-time OS, the control command information from the FIFO queue and passing the control command information to a fixed-cycle processing unit operating on the real-time OS;
• and
• transmitting, by the fixed-cycle processing unit, to the control target device for each of the motion control cycles an interpolation command indicating an operation that should be executed for each of the motion control cycles, based on the control command information passed from the command processing unit, thereby performing motion control of the control target device.