Programmable controller
AssigneeFanuc Corporation
InventorsNao Onose, Mitsuru Mochizuki
Life of this patent
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Abstract
A programmable controller allocates times obtained by dividing executable time in one operation cycle to a plurality of paths, executes sequence programs of the paths within the respective allocated times, and measures extra time that is a remainder of each of the allocation times when execution of each of the sequence programs ends. Then, the programmable controller determines whether a predetermined sequence program is to be executed in the measured extra time, and instructs the sequence execution unit to execute the predetermined sequence program in the extra time in accordance with a result of the determination.
Claims9
A programmable controller for allocating, to a plurality of paths each having a sequence program, allocation times obtained by dividing executable time in one operation cycle at a predetermined ratio, and executing the sequence programs of the plurality of paths in the respective allocation times, the programmable controller comprising:
- a sequence execution unit configured to execute the sequence programs within the respective allocation times;
- an extra time measurement unit configured to measure extra time that is a remainder of each of the allocation times when execution of each of the sequence programs ends;
- an executability determination unit configured to
- determine whether or not a predetermined sequence program is to be executed in the extra time measured by the extra time measurement unit, and
- instruct the sequence execution unit to execute the predetermined sequence program in the extra time in accordance with a result of the determination;
- and
- an allocation table storage unit storing an allocation table in which the predetermined ratio at which the executable time is allocated to the execution of the sequence program of each of the plurality of paths is set, wherein
- (i) at least one path, among the plurality of paths, which is to be executed in the extra time when the extra time occurs, and (ii) an execution condition for execution of the at least one path in the extra time are set in the allocation table,
- each of the sequence programs of the plurality of paths has a plurality of program levels,
- each of the plurality of program levels includes a first level and a second level, and
- the executability determination unit is configured to, in response to the sequence execution unit executing the sequence programs for the first level, determine whether the sequence programs for the second level are to be executed in the extra time.
A programmable controller for allocating, to a plurality of paths each having a sequence program, allocation times obtained by dividing executable time in one operation cycle at a predetermined ratio, and executing the sequence programs of the plurality of paths in the respective allocation times, the programmable controller comprising:
- a processor configured to
- execute the sequence programs within the respective allocation times,
- determine extra time that is a remainder of each of the allocation times when execution of each of the sequence programs ends,
- make a determination whether or not a predetermined sequence program is to be executed in the extra time, and
- execute the predetermined sequence program in the extra time in accordance with a result of the determination;
- and
- a memory storing an allocation table in which the predetermined ratio at which the executable time is allocated to the execution of the sequence program of each of the plurality of paths is set, wherein
- (i) at least one path, among the plurality of paths, which is to be executed in the extra time when the extra time occurs, and (ii) an execution condition for execution of the at least one path in the extra time are set in the allocation table,
- each of the sequence programs of the plurality of paths has a plurality of program levels,
- each of the plurality of program levels includes a first level and a second level, and
- the processor is configured to, in response to executing the sequence programs for the first level, determine whether the sequence programs for the second level are to be executed in the extra time.
Dependencies are inferred from the claim text.