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 plurality of control target devices, the motion control device having a non-real-time operating system (OS) and a real-time OS installed thereon, comprising:

• receiving, by a reception unit operating on the non-real-time OS, a control command indicating an operation that should be performed by each of the plurality of control target devices over a plurality of motion control cycles, from a user-created program that operates on the non-real-time OS and controls the plurality of control target devices, and notifying a control unit operating on the real-time OS of control command information indicating a content of the received control command;
• generating, by the control unit, an interpolation command for each of the plurality of control target devices repeatedly for each of the motion control cycles based on the control command information notified from the reception unit, the interpolation command indicating to each of the plurality of control target devices an operation that should be executed for each of the motion control cycles, and storing the generated interpolation command in a memory area which is reserved for each of the control target devices;
• obtaining, by a communication module unit of a plurality of communication module units operating on the real-time OS, the interpolation command from the memory area reserved for each of the plurality of control target devices, by accessing the memory area based on mapping information defining a correspondence relation between each of the plurality of control target devices that should be taken charge of by each of the plurality of communication module units and the memory area reserved for each of the plurality of control target devices that should be taken charge of, converting the obtained interpolation command from a predetermined signal format which can be recognized by the control unit into a signal format with a communication interface standard which can be recognized by each of the plurality of control target devices, and transmitting the interpolation command,
• converting, by the communication module unit, feedback information indicating a control target device state, the feedback information being obtained from each of the plurality of control target devices, from the signal format with the communication interface standard which can be recognized by each of the plurality of control target devices into the predetermined signal format, and storing the feedback information in the memory area;
• and
• obtaining, by the control unit, from the memory area the feedback information that has been converted into the predetermined signal format.

A motion control device for performing motion control of a plurality of control target devices, the motion control device having a non-real-time operating system (OS) and a real-time OS installed thereon, comprising:

• a reception unit operating on the non-real-time OS;
• a control unit operating on the real-time OS;
• and
• a plurality of communication module units operating on the real-time OS, wherein:
• the reception unit receives a control command indicating an operation that should be performed by each of the plurality of control target devices over a plurality of motion control cycles, from a user-created program that operates on the non-real-time OS and controls the plurality of control target devices, and notifies the control unit of control command information indicating a content of the received control command;
• the control unit generates an interpolation command for each of the control target devices repeatedly for each of the motion control cycles based on the control command information notified from the reception unit, the interpolation command indicating to each of the plurality of control target devices an operation that should be executed for each of the motion control cycles, and stores the generated interpolation command in a memory area which is reserved for each of the control target devices;
• each of the plurality of communication module units;
• obtains the interpolation command from the memory area reserved for each of the control target devices, by accessing the memory area based on mapping information defining a correspondence relation between each of the plurality of control target devices that should be taken charge of by each of the plurality of communication module units and the memory area reserved for each of the plurality of control target devices that should be taken charge of,
• converts the obtained interpolation command from a predetermined signal format which can be recognized by the control unit into a signal format with a communication interface standard which can be recognized by each of the plurality of control target devices, and transmits the interpolation command;
• and
• converts feedback information indicating a control target device state, the feedback information being obtained from each of the plurality of control target devices, from the signal format with the communication interface standard which can be recognized by each of the plurality of control target devices into the predetermined signal format, and stores the feedback information in the memory area;
• and
• the control unit obtains from the memory area the feedback information that has been converted into the predetermined signal format.