Computation unit, output control method, and program

A computation unit of a programmable logic controller configured to execute a motion control and a sequence control, the computation unit comprising:

• a processor;
• and
• a memory configured to store a program for performing the motion control using a computer aided manufacturing (CAM) table in which a displacement of a driven shaft of an electronic cam is associated with each phase of a main shaft of the electronic cam, and a first CAM table and a second CAM table serving as the CAM table, wherein
• the processor is configured to:
• execute the program using the first CAM table, and output execution results to an apparatus to be controlled associated with the driven shaft,
• switch, when receiving a predetermined instruction in middle of one period of the motion control during the execution of the program, the CAM table used in the execution of the program from the first CAM table to the second CAM table in the middle of the one period, and
• output the execution results of the program using the second CAM table to the apparatus to be controlled based on the switching,
• the first and second CAM tables correspond to different relationships between a phase of the main shaft and a displacement of the driven shaft, and
• in the switching, the second CAM table is switched with the first CAM table while an electronic cam operation is being performed using the first CAM table.

An output control method in a computation unit of a programmable logic controller configured to execute a motion control and a sequence control,

• the computation unit storing a program for performing the motion control using a computer aided manufacturing (CAM) table in which a displacement of a driven shaft of an electronic cam is associated with each phase of a main shaft of the electronic cam, and a first CAM table and a second CAM table serving as the CAM table,
• the output control method comprising:
• a processor of the computation unit executing the program using the first CAM table, and outputting execution results to an apparatus to be controlled associated with the driven shaft;
• the processor, when receiving a predetermined instruction during the execution of the program, switching a CAM table used in the execution of the program from the first CAM table to the second CAM table;
• the processor outputting the execution results of the program using the second CAM table to the apparatus to be controlled based on the switching;
• and
• the processor executing the program using a displacement associated with a phase of the second CAM table, the phase of the second CAM table being greater than a phase in the first CAM table at the time of switching when switching the CAM table used in the execution of the program from the first CAM table to the second CAM table,
• wherein
• the first and second CAM tables correspond to different relationships between a phase of the main shaft and a displacement of the driven shaft, and
• in the switching, the second CAM table is switched with the first CAM table while an electronic cam operation is being performed using the first CAM table.

An output control method in a computation unit of a programmable logic controller configured to execute a motion control and a sequence control,

• the computation unit storing a program for performing the motion control using a computer aided manufacturing (CAM) table in which a displacement of a driven shaft of an electronic cam is associated with each phase of a main shaft of the electronic cam, and a first CAM table and a second CAM table serving as the CAM table,
• the output control method comprising:
• a processor of the computation unit executing the program using the first CAM table, and outputting execution results to an apparatus to be controlled associated with the driven shaft;
• the processor, when receiving a predetermined instruction in middle of one period of the motion control during the execution of the program, switching the CAM table used in the execution of the program from the first CAM table to the second CAM table in the middle of the one period;
• and
• the processor outputting the execution results of the program using the second CAM table to the apparatus to be controlled based on the switching,
• wherein
• the first and second CAM tables correspond to different relationships between a phase of the main shaft and a displacement of the driven shaft, and
• in the switching, the second CAM table is switched with the first CAM table while an electronic cam operation is being performed using the first CAM table.

A program for controlling a computation unit of a programmable logic controller configured to execute a motion control and a sequence control,

• the computation unit storing a program for performing the motion control using a computer aided manufacturing (CAM) table in which a displacement of a driven shaft of an electronic cam is associated with each phase of a main shaft of the electronic cam, and a first CAM table and a second CAM table serving as the CAM table,
• the program causing the computation unit to perform:
• executing the program using the first CAM table, and outputting execution results to an apparatus to be controlled associated with the driven shaft;
• switching a CAM table used in the execution of the program from the first CAM table to the second CAM table when receiving a predetermined instruction during the execution of the program;
• outputting the execution results of the program using the second CAM table to the apparatus to be controlled based on the switching;
• and
• executing the program using a displacement associated with a phase of the second CAM table, the phase of the second CAM table being greater than a phase in the first CAM table at the time of switching when switching the CAM table used in the execution of the program from the first CAM table to the second CAM table,
• wherein
• the first and second CAM tables correspond to different relationships between a phase of the main shaft and a displacement of the driven shaft, and
• in the switching, the second CAM table is switched with the first CAM table while an electronic cam operation is being performed using the first CAM table.

A program for controlling a computation unit of a programmable logic controller configured to execute a motion control and a sequence control,

• the computation unit storing a program for performing the motion control using a computer aided manufacturing (CAM) table in which a displacement of a driven shaft of an electronic cam is associated with each phase of a main shaft of the electronic cam, and a first CAM table and a second CAM table serving as the CAM table,
• the program causing the computation unit to perform:
• executing the program using the first CAM table, and outputting execution results to an apparatus to be controlled associated with the driven shaft;
• switching, when receiving a predetermined instruction in middle of one period of the motion control during the execution of the program, the CAM table used in the execution of the program from the first CAM table to the second CAM table in the middle of the one period;
• and
• outputting the execution results of the program using the second CAM table to the apparatus to be controlled based on the switching,
• wherein
• the first and second CAM tables correspond to different relationships between a phase of the main shaft and a displacement of the driven shaft, and
• in the switching, the second CAM table is switched with the first CAM table while an electronic cam operation is being performed using the first CAM table.