Computation unit, assistance device, output control method, display control method, and program

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 computer-aided manufacturing (CAM) table and a program for performing the motion control using the CAM table, in which a displacement of a driven shaft of an electronic cam is associated with each phase of a plurality of phases of a main shaft of the electronic cam,
• the output control method comprising:
• outputting, by a processor of the computation unit, execution results of the program to an apparatus to be controlled associated with the driven shaft;
• receiving, by the processor, a first command for altering at least one of a phase of the plurality of phases or a displacement associated with the phase of the plurality of phases,
• performing alteration of the CAM table, by the processor, upon receiving the first command, by replacing at least one of the phase or the displacement in the CAM table with a value based on the first command, to obtain a post-alteration CAM table;
• executing the program using the post-alteration CAM table, and outputting the execution results to the apparatus to be controlled;
• and
• receiving, by the processor, an instruction to select either a first altering mode or a second altering mode,
• wherein, in the executing of the program using the post-alteration CAM table,
• when the selection of the first altering mode is received and when the first command is received in a current period of the electronic cam, the program is executed by the processor using the post-alteration CAM table in the current period, in which the first command is received, and in a subsequent period after the current period, and
• when the selection of the second altering mode is received and when the first command is received in the current period, the program is executed by the processor using a pre-alteration CAM table, which is the CAM table before the alteration is performed, in the current period, and the program is executed by the processor using the post-alteration CAM table in the subsequent period after the current period.

A non-transitory computer-readable recording medium storing a program configured to control a computation unit of a programmable logic controller configured to execute a motion control and a sequence control,

• the computation unit storing a computer-aided manufacturing (CAM) table and a motion control program configured to perform the motion control using the CAM table, in which a displacement of a driven shaft of an electronic cam is associated with each phase of a plurality of phases of a main shaft of the electronic cam,
• the program causing the computation unit to perform operations comprising:
• outputting execution results of the motion control program to an apparatus to be controlled associated with the driven shaft;
• receiving a first command for altering at least one of a phase of the plurality of phases or a displacement associated with the phase of the plurality of phases,
• performing alteration of the CAM table, upon receiving the first command, by replacing at least one of the phase or the displacement in the CAM table with a value based on the first command, to obtain a post-alteration CAM table;
• executing the motion control program using the post-alteration CAM table, and outputting the execution results to the apparatus to be controlled;
• and
• receiving an instruction to select either a first altering mode or a second altering mode,
• wherein, in the executing of the motion control program using the post-alteration CAM table,
• when the selection of the first altering mode is received and when the first command is received in a current period of the electronic cam, the motion control program is executed using the post-alteration CAM table in the current period, in which the first command is received, and in a subsequent period after the current period, and
• when the selection of the second altering mode is received and when the first command is received in the current period, the motion control program is executed using a pre-alteration CAM table, which is the CAM table before the alteration is performed, in the current period, and the motion control program is executed using the post-alteration CAM table in the subsequent period after the current period.