Control apparatus, control method, and support apparatus

A control method that can control one or a plurality of motors, the control method comprising:

• outputting an instruction value for the one or plurality of motors for each control period;
• and
• sequentially interpreting an application program including one or a plurality of commands defining a target trajectory and generating an internal command that is necessary for outputting the instruction value for each control period, and
• wherein sequentially interpreting an application program and generating of the internal command includes:
• calculating a passage point on the target trajectory for each period set in advance in accordance with a command included in the application program and generating the internal command in accordance with calculated passage points;
• and
• changing the period at which the passage points are calculated to a length designated by a special command in a case in which the special command defined in advance is executed in the sequential interpretation of the application program.

A support apparatus processing an application program including one or a plurality of commands defining a target trajectory, the support apparatus comprising:

• a first acquisition means that acquires an actual behavior representing a trajectory of a control target in accordance with an instruction value for each control period that is calculated on the basis of an internal command generated by sequentially interpreting the application program;
• a second acquisition means that acquires an ideal behavior that is the original trajectory of the control target following the target trajectory;
• a specifying means that extracts a portion in which an error between the actual behavior and the ideal behavior exceeds an allowed error range set in advance and specifies a command corresponding to the extracted portion included in the application program;
• and
• a correction means that adds a special command used for changing processing accuracy at the time of generating the internal command from a command included in the application program before the specified command.