JP2001255912A - Method for executing motion program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem that it is difficult to quicken processing, due to large amounts of data conversion processing, while it is necessary to quicken processing for ensuring performance since a motion program execution analyzing part 11 operates at the time of executing a motion program. SOLUTION: A motion controller 1 is provided with a motion program compile processing part 4 for compiling a motion program in a text format into a motion program in a format practicable on a multi-task OS. Then, a task control instruction is issued from a control signal processing part 6 to a multi- task OS 7, so that the execution of a motion program can be controlled as one task on the multi-task OS 7.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a motion program execution method for a motion controller.

[0002]

2. Description of the Related Art As a method for executing a motion program, as shown in FIG. 3, a motion program 2 in a text format stored in a memory 4 is controlled by a motion program execution analyzer 11 from a control signal processor 6 '. There is a method of performing execution control according to the command S5. At this time, in the motion program execution analysis unit 11, the analysis processing unit 12 converts the text-format motion program 2 read from the memory 8 into a binary-format motion command S4, and transmits it to the execution control unit 13. Further, the execution control unit 1
3 is a motion command S2 according to the execution control command S5.
To the motion control processing unit 10.

[0003]

SUMMARY OF THE INVENTION In the prior art,
The motion program execution analysis unit 11 operates at the time of executing a motion program, so it is necessary to perform high-speed processing to ensure performance. However, there is a problem that high-speed processing is difficult because a large amount of data conversion processing is performed. Further, when a plurality of motion programs are to be executed simultaneously or asynchronously, it is necessary to prepare a plurality of motion program execution analysis units 11 or to cope with the execution of the plurality of motion programs by the motion program execution analysis unit 11. ,
There is a problem that the processing content is complicated and cannot be easily realized. Therefore, an object of the present invention is to provide a motion program execution method that easily realizes high speed of a motion program execution analysis unit and easily executes a plurality of motion programs.

[0004]

In order to solve the above-mentioned problems, the present invention provides a motion controller for compiling a motion program in a text format into a motion program in a format executable on a multitask OS in a motion controller. The motion program is provided by instructing the multitask OS by providing a task control command from the control signal processing unit to the multitask OS.
This is a method of executing a motion program that is executed and controlled as one task on S.

[0005]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a process according to the embodiment of the present invention. The motion controller 1 includes an input processing unit 3 into which a text-format motion program 2 is input, a motion program compilation processing unit 4 that converts the text-format motion program 2 into an executable motion program 9, and stores the motion program 9 in a memory 8. Multitask OS according to control signal input 5
7, a control signal processing unit 6 for issuing a command S1 for starting and stopping the motion program 9 in an executable form,
S7 is provided. FIG. 2 is a flowchart showing a motion program execution process in the embodiment of the present invention. This process performs the following steps. 1) The text-format motion program 2 is transmitted to the motion program compilation processing unit 4 through the input / output processing unit 3. (Step 1) 2) The motion program compilation processing unit 4 converts the motion program 2 in the text format into the motion program 9 in the execution format. (Step 2) 3) The motion program 9 in the execution format is stored in the memory 8. (Step 3) 4) The control signal processing unit 6 instructs the multitask OS 7 to execute the execution program of the motion program 9 in accordance with the motion control signal input 5. (Step 4) 5) The multitask OS activates the executable motion program 9 as a task (S3). (Step 5) The motion program is executed in the above procedure. However, since the text-format motion program is converted into the executable format data in Step 2, the data conversion is not required at the time of executing the motion program, and the speed can be easily increased. I can do it. Further, since the execution of the motion program is controlled as one task on the multitask OS in step 5, it is not necessary to develop the execution control processing of the motion program. In addition, the multitask execution function of the multitask OS facilitates simultaneous or asynchronous execution of a plurality of motion programs.

[0006]

As described above, according to the present invention,
There are the following effects (1) to (3). (1) Since a motion program in a text format is converted into data in an executable format in advance, data conversion is not required at the time of executing the motion program, and the speed can be easily increased. (2) Since the execution of the motion program is controlled as a task on the multitask OS, there is no need to develop the execution control processing of the motion program. (3) Simultaneous or asynchronous execution of a plurality of motion programs can be easily performed by the multitask execution function of the multitask OS.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention.

FIG. 2 is a flowchart showing a motion program execution process according to an embodiment of the present invention.

FIG. 3 is a block diagram showing an embodiment of the prior art.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Motion controller 2 Text format motion program 3 I / O processing part 4 Motion program compilation processing part 5 Control signal input 6 Control signal processing part 7 Multitask OS 8 Memory 9 Executable form motion program 10 Motion control processing part 11 Motion program execution Analysis unit 12 Analysis processing unit 13 Execution control unit S1 Command for starting and stopping motion program in execution format S2 Motion command S3 Task start S4 Motion command in binary format S5 Execution control command

Claims (1)

[Claims] 1. A motion controller comprising a motion program compiling processor for converting a text-format motion program into an executable program, wherein the executable motion program is transmitted from a control signal processor to a multitask OS by a task control command. A method of executing a motion program in a motion controller, wherein the execution is controlled as one task on a multitask OS.