Machine control via wireless communication

A machine control system comprising:

• a machine configured to execute a motion according to a machine command;
• a controller server configured to control the machine;
• and
• a communication server configured to communicate with the controller server via a wired communication network, and to communicate with the machine via a wireless communication network,
• wherein the controller server comprises control circuitry configured to repeat operations according to a control cycle, the operations including:
• executing a motion program to generate the machine command for the machine;
• adding first cycle information designating a first use timing to the machine command;
• and
• transmitting the machine command including the first cycle information to the communication server,
• wherein the machine comprises machine circuitry configured to:
• repeat local operations for controlling the machine according to a local control cycle;
• store the machine command received from the communication server;
• and
• call the stored machine command, based on the first cycle information added to the stored machine command, to use the machine command in the local control cycle corresponding to the first use timing,
• wherein the control circuitry is further configured to transmit cycle timing information identifying a cycle timing of the control cycle to the machine, and
• wherein the machine circuitry is further configured to generate the local control cycle synchronized with the control cycle based on the cycle timing information.

A machine comprising:

• a machine body configured to execute a motion;
• a terminal communication device configured to:
• communicate, via a wireless communication network, with a communication server configured to communicate with a control server via a wired communication network;
• and
• receive a machine command to which the control server has added cycle information designating a use timing via the communication server;
• and
• machine control circuitry configured to:
• repeat local operations for controlling the machine body according to a local control cycle,
• store the machine command received by the terminal communication device;
• and
• call the stored machine command, based on the cycle information added to the stored machine command, to cause the machine body to execute motion based on the called machine command in the local control cycle corresponding to the use timing,
• wherein the local operations comprise:
• causing the machine body to execute the motion based on the called machine command;
• acquiring response information based on the motion executed by the machine body;
• and
• adding second cycle information designating a second use timing to the response information,
• wherein the terminal communication device is further configured to transmit the response information including the second cycle information to the communication server, and
• wherein the response information received by the communication server is stored and called, based on the second cycle information added to the stored response information, to generate the motion command according to the called response information in a control cycle corresponding to the second use timing.

A communication method comprising:

• transmitting a machine command from a control server to a machine via a wireless communication network, wherein the controller server is configured to repeat operations, the operations including:
• executing a motion program to generate the machine command for the machine;
• and
• adding first cycle information designating a first use timing to the machine command;
• storing the machine command received via the wireless communication network;
• calling the stored machine command, based on the first cycle information added to the stored machine command, to use the machine command in a local control cycle corresponding to the first use timing, wherein the machine is configured to repeat local operations according to the local control cycle, the local operations including:
• causing the machine body to execute the motion based on the called machine command;
• acquiring response information based on the motion executed by the machine body;
• and
• adding second cycle information designating a second use timing to the response information;
• transmitting the response information including the second cycle information from the machine to the control server via the wireless communication network;
• storing the response information received via the wireless communication network;
• and
• calling the stored response information, based on the second cycle information added to the stored response information, to execute the motion program according to the called response information in the control cycle corresponding to the second use timing.