Motion controller capable of specifying program execution pace

A motion controller that sequentially executes a preregistered program formed of a plurality of blocks;

• the motion controller comprising:
• a block execution time measuring section that actually measures an execution time of each of the blocks constituting the program;
• a program execution time specifying section that specifies an execution time of the entire program;
• a positioning time measuring section that actually measures a time immediately after a pulse output for the block is completed until an in-position state is established;
• a calculation section that calculates a speed or an acceleration and deceleration time constant for each block which allows the program to be executed in the program execution time specified by the program execution time specifying section, on a basis of the execution time of each block actually measured by the block execution time measuring section, the program execution time specified by the program execution time specifying section, and the time needed to establish the in-position state and actually measured by the positioning time measuring section;
• and
• an execution section that executes the program in use of the speed or the acceleration and deceleration time constant calculated by the calculation section.

A motion controller that sequentially executes a preregistered program formed of a plurality of blocks,

• the motion controller comprising:
• a block execution time analyzing section that analyzes an execution time of each of the blocks constituting the program;
• a program execution time specifying section that specifies an execution time of the entire program;
• a positioning time setting section that sets a time immediately after a pulse output for the block is completed until an in-position state is established;
• a calculation section that calculates a speed or an acceleration and deceleration time constant for each block which allows the program to be executed in the program execution time specified by the program execution time specifying section, on the basis of the execution time of each block analyzed by the block execution time analyzing section, the program execution time specified by the program execution time specifying section, and the time needed to establish the in-position state and set by the positioning time setting section;
• and
• an execution section that executes the program in use of the speed or the acceleration and deceleration time constant calculated by the calculation section.

A motion controller that sequentially executes a preregistered program formed of a plurality of blocks,

• the motion controller comprising:
• a block execution time measuring section that actually measures an execution time of each of the blocks constituting the program;
• a program execution pace ratio specifying section that specifies a ratio of an execution pace for the entire program;
• a positioning time setting section that sets a time immediately after a pulse output for the block is completed until an in-position state is established;
• a calculation section that calculates a speed or an acceleration and deceleration time constant for each block which allows the program to be executed at an program execution pace ratio specified by the program execution pace ratio specifying section, on the based of the execution time of each block actually measured by the block execution time measuring section, the program execution pace ratio specified by the program execution pace ratio specifying section, and the time needed to establish the in-position state and set by the positioning time setting section;
• and
• an execution section that executes the program in use of the speed or the acceleration and deceleration time constant calculated by the calculation section.

A motion controller that simultaneously executes a plurality of preregistered programs formed of a plurality of blocks respectively,

• the motion controller comprising:
• a block execution time measuring section that measures an execution time of each of the blocks constituting each of the programs;
• a specified program measuring section that actually measures an execution time of the whole of a program specified from among the plurality of programs;
• a program execution time specifying section that specifies an execution time of each program;
• a positioning time setting section that sets a time immediately after a pulse output for the block is completed until an in-position state is established;
• a calculation section that calculates a speed or an acceleration and deceleration time constant for each block which allows each program to be executed in the same program execution time as the execution time of the specified program, on the basis of the execution time of each program specified by the program execution time specifying section, the execution time of the whole of the specified program measured by the specified program measuring section, and the time needed to establish the in-position state and set by the positioning time setting section;
• and
• an execution section that simultaneously executes the plurality of programs in use of the speed or the acceleration and deceleration time constant calculated by the calculation section.