JP2004192432A - Control system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control system capable of dealing speedily with system environment changes. <P>SOLUTION: A master station M successively reads instructions in accordance with a control program (step S2) and, when an instruction to be executed next is not addressed to a slave station (step S4), executes the instruction (step S6), while when it is addressed to the slave station, judges whether the slave station is available by referring to an axis information table T1 (steps S8 and S10). When it is available, the master station M executes the instruction (step S6) and reads the next instruction, while when it is invalid, the master station M does not executes the instruction and reads the next instruction (step S2). <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a control system including a master station and a plurality of slave stations, such as a numerical control system such as an inverter drive system and a servo system.
[0002]
[Prior art]
Conventionally, in a numerical control system such as an inverter drive system or a servo system, for example, as shown in FIG. 9, a plurality of control devices are connected via a communication line, and one of the control devices serves as a master station M. The master station M manages other control devices as slave stations S1 to S4. Then, the master station M sends a command to the slave stations S1 to S4 in accordance with the control program, and the slave stations S1 to S4 drive and control the controlled objects in response to the command, so that a predetermined Drive control is performed.
[0003]
In such a numerical control system, by setting various system parameters according to the purpose of use and setting the environment in advance and creating a system parameter file and an environment setting file F, the number of axes connected to the system can be increased. Information on each axis, such as what is possible and what is connected to which axis, is defined, and the master station M refers to the system parameter file and the environment setting file F, and I try to control the station.
[0004]
As a method for setting such system parameters and setting the environment, for example, as described in Japanese Patent Application Laid-Open No. 9-62323, automatic setting is performed to reduce the burden on the user. Methods for preventing mistakes and the like have been proposed.
[0005]
[Patent Document 1]
JP-A-9-62323
[0006]
[Problems to be solved by the invention]
However, in the above-described conventional numerical control system, the system parameters are set and the environment is set as described above, and the master station controls the entire system based on the axis information.
For this reason, when the axis registered as connected in the environment setting file is removed for the purpose of, for example, adjustment or maintenance, for example, the environment set in the environment setting file differs from the actual environment. Since the environment is different, it is necessary to perform an operation of replacing or resetting the system parameters and the environment setting file each time, and further, it is necessary to individually create or replace the programs.
[0007]
That is, for example, when four axes are set as slave stations as shown in FIG. 9, when only one axis is connected or operated, or when only one axis is removed, the environment setting file and the control program You need to set several types. In addition, when a trial run is performed for each axis, such as when starting up the installation, a number of environment setting files and control programs corresponding to the axes are required.
[0008]
Further, for example, when one axis breaks down during operation, it is necessary to change the environment setting file or the control program in order to stop all the axes or to operate only the remaining axes.
As a result, there is a problem in that, in terms of operation, the production capacity and the operation rate are reduced, and adjustment and restoration take time and effort.
Therefore, the present invention has been made in view of the above-mentioned conventional unsolved problems, and has as its object to provide a control system capable of promptly coping with a change in the system environment.
[0009]
[Means for Solving the Problems]
To achieve the above object, a control system according to claim 1 of the present invention sequentially reads and executes instructions specified by a control program with a plurality of slave stations that control a controlled object according to a control instruction. When the command is a command for the slave station, the master station instructs the slave station as the control command, and the slave station is valid or invalid. Instruction information determining means for determining whether a next execution instruction to be executed next in the control program is an instruction for the slave station, and determining the instruction content. Means, when it is determined that the instruction is for the slave station, the instruction of the next execution instruction is included in the slave station information. Invalidity determining means for determining whether the previous slave station is set to invalid, and when the invalidity determining means detects that the instruction destination slave station is set to invalid, the invalidation of the next execution instruction Instruction non-execution control means for prohibiting execution and instructing to read the next instruction.
[0010]
In the invention according to claim 1, slave station information indicating whether each slave station is valid or invalid is set in advance. The master station sequentially executes the instructions according to the control program. At this time, the master station determines whether the next execution instruction to be executed next is an instruction for the slave station, and determines that the next execution instruction is an instruction for the slave station. Then, the slave station information is referred to, and it is determined whether or not the designated slave station is set to be invalid. When detecting that the designated slave station is set invalid in the slave station information, execution of the next execution instruction is prohibited, and an instruction to read the next instruction is issued.
[0011]
Therefore, for example, when the master station issues a command to the slave station, the next command is executed when the slave station or the controlled object performs a predetermined operation in response to the command. In this case, if a command is issued to a slave station not connected to the system, the slave station does not perform a predetermined operation, and the control program stops here.
[0012]
However, if the slave station that is not connected is set to invalid in the slave station information, the instruction addressed to this slave station will not be executed, and the control program will stop because the slave station is not connected. Can be avoided.
Further, in the control system according to claim 2, the command non-execution control unit executes a preset invalid instruction for time adjustment when the invalid determination unit determines that the invalid setting has been performed, It is characterized in that an instruction to read the next instruction is issued.
[0013]
In the invention according to claim 2, when the slave station to be executed next, which is the instruction destination of the instruction addressed to the slave station, is set invalid in the slave station information, after executing the invalidation instruction for time adjustment, The instruction to read the next instruction is issued.
Here, for example, when the operation timings of the axes controlled by the slave stations affect each other, and when the instruction directed to the slave station is not executed, there is an accompanying effect. However, when the instruction directed to the slave station is not executed, the instruction for reading the next instruction is issued after executing the invalid instruction for time adjustment, so that the instruction directed to the slave station is executed by executing the invalid instruction. It is possible to perform time adjustment caused by not doing so.
[0014]
Further, the control system according to claim 3 sets a specified command interval set according to a required time from execution of an instruction to the slave station to execution of the next instruction for each type of instruction to the slave station. The instruction non-execution control means performs processing having a required time corresponding to a prescribed instruction interval corresponding to the next execution instruction specified based on the instruction interval information as the invalid instruction. It is characterized by:
[0015]
In the invention according to the third aspect, a prescribed command interval is set according to a required time from execution of a command to the slave station to execution of the next command, and this is set for each command to the slave station. It is stored as interval information.
When the command is directed to the slave station, a specified command interval corresponding to the command is specified based on the command interval information, and a process having a required time corresponding to the specified specified command interval is executed as an invalid command. You.
[0016]
Therefore, even when the required time varies depending on the instruction to the slave station, the invalid instruction having the required time corresponding to the prescribed instruction interval corresponding to the instruction to the slave station not to be executed is properly executed. Time can be adjusted.
The control system according to claim 4, wherein the prescribed instruction interval is the number of times the invalid instruction is executed, and the instruction non-execution control means executes the invalid instruction a specified number of times. And
[0017]
In the invention according to the fourth aspect, the number of executions of the invalid instruction is set as the prescribed instruction interval, and the invalid instruction is executed by the specified execution number. That is, even if the time required for one invalid instruction is short, it is possible to secure the required time corresponding to the specified instruction interval by repeatedly performing the invalid instruction.
The control system according to claim 5 is characterized in that the invalid instruction is an instruction that does nothing.
[0018]
7. The control system according to claim 6, wherein the instruction non-execution control means waits for a time corresponding to a prescribed instruction interval corresponding to the next execution instruction specified based on the instruction interval information as the invalid instruction. Is performed.
[0019]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, an embodiment of the present invention will be described.
First, a first embodiment will be described.
FIG. 1 is a schematic configuration diagram illustrating an example of a numerical control system to which the present invention has been applied. In this numerical control system, as shown in FIG. 1, four slave stations S1 to S4 and a master station M are connected via a communication line. The master station M recognizes the axis information based on an axis information table T1 described later, and executes a preset control program for system control similarly to the master unit in the known numerical controller. The slave stations S1 to S4 output control commands based on the command, and in each of the slave stations S1 to S4, drive control is performed on a control target (not shown) based on a command from the master station M. A predetermined operation is performed, and a predetermined operation is performed for the entire system.
[0020]
As shown in FIG. 2, the axis information table T1 is formed so that information for the number of connectable axes in the numerical control system of FIG. 1 can be set, and the axis number corresponding to each slave station and the validity of this axis are set. Or invalid, and model information of the controlled object corresponding to this axis are set. In addition, data corresponding to the above-described system parameter file or environment setting file, such as system parameters or environment setting information, for each axis is set for each axis.
[0021]
Here, a case has been described in which data corresponding to a system parameter file and an environment setting file is registered in the axis information table T1, but the present invention is not limited to this. Similarly, it is needless to say that an axis information table T1 including an axis number and valid / invalid information may be newly provided separately.
[0022]
The master station M sequentially reads and executes the instructions according to the control program. If the instruction is an instruction for a slave station, the master station M determines whether the slave station of the instruction is valid or invalid. Judgment is made by referring to the axis information table T1. If the instruction is valid, the designated instruction is executed. If the instruction is invalid, the instruction is not executed and the next instruction is read.
[0023]
Although FIG. 1 illustrates a case where a numerical control system including four slave stations S1 to S4 is configured, the present invention is not limited to this, and an arbitrary number of slave stations can be connected.
Next, the operation of the first embodiment will be described.
Now, as shown in FIG. 1, in a numerical control system including the slave stations S1 to S4 and the master station M, a four-axis control program for controlling four axes is executed.
[0024]
The user operates an input device such as a keyboard (not shown) to set all axes, for example, NO1 to NO4, corresponding to the slave stations S1 to S4 to valid in the axis information table T1.
When the system is started in this state, the master station M refers to the axis information table T1 and recognizes the system configuration based on various system parameters and various environment setting information.
[0025]
Then, the master station M executes the specified four-axis control program according to the flowchart shown in FIG. 3 which shows an example of the procedure of the program execution process. That is, first, in step S2, the command is read from the top of the 4-axis control program, and it is determined whether this is a command for the axis, that is, whether it is a command addressed to the slave station (step S4).
[0026]
For example, if the read command is a simple operation or the like and is not a command for the slave station, the process shifts to step S6 to execute the specified command. Then, the process proceeds to step S8, and returns to step S2 if the four-axis control program is not completed.
Then, the next command is read, and it is determined whether or not this is a command for the axis. If the command is for the axis, that is, the command is directed to the slave station, the process proceeds to step S8, and whether the slave station, that is, the command destination of this command is valid is determined based on the axis information table T1. To judge.
[0027]
In this case, since all the slave stations S1 to S4 are connected, and the axes No. 1 to No4 are set as valid in the axis information table T1, the process shifts from step S10 to step S6, and the designated slave station Execute the instruction addressed to. Then, control goes to a step S8.
Next, for example, when the slave station S2 is to be detached for some reason such as maintenance or the like, the axis information table T1 is operated to switch the axis No. 2 corresponding to the slave station S2 to invalid as shown in FIG. .
[0028]
Then, in this state, the four-axis control program is executed. That is, according to the flowchart of FIG. 3, the command is read (step S2), and it is determined whether the command is directed to the slave station (step S4). If the command is not directed to the slave station, this process is executed as it is (step S4). Step S6). At this time, if the read command is a command addressed to the slave station, the process proceeds to step S8, and it is determined whether or not this slave station is set invalid in the axis information T1.
[0029]
Here, if the instruction addressed to the slave station is an instruction addressed to the slave station S2, that is, an instruction addressed to the removed axis No. 2, the axis number is set to invalid in the axis information table T1. Therefore, the process proceeds from step S10 to step S2 via step S8, and the next instruction is read. That is, the command for the removed axis No. 2 is not executed, and the command is not transmitted to the slave station S2.
[0030]
Here, the master station M transmits a command to the slave station S2 and then reads the next command in response to the response from the slave station S2, or is controlled by the slave station S2. The operation of the slave station S2 side in response to the instruction may affect the operation of the master station M when the master station M executes the control program, such as when the next instruction is read when the target operation result is in a certain state. When the master station M sends a command to the detached slave station S2, the master station M enters an operation waiting state on the slave station S2 side, and the processing in the master station M is stopped. In some cases, the system may be stopped, and as a result, the entire system may be stopped.
[0031]
However, as described above, when the slave station S2 is set to be invalid in the axis information table T1, the instruction addressed to the slave station S2 is not executed, and the next instruction is read. It is possible to avoid that the station M is in an operation waiting state on the slave station S2 side and is affected by stopping the entire system.
[0032]
Therefore, even if the slave station S2 is detached, the four-axis control program can be executed. Therefore, even if the four-axis control program for originally controlling four axes is executed, the three-axis control program can be executed. Control over the axis can be performed.
Further, it is not necessary to change the four-axis control program to the three-axis control program as in the related art, and it is possible to easily cope with this simply by changing the valid / invalid setting in the axis information table T1.
[0033]
Further, as described above, even if a three-axis configuration or a two-axis configuration is used, control can be performed on the axes connected to these control systems using the four-axis control program. In the case where some axes are driven without driving all axes, such as when driving one axis at a time or when driving systematically during maintenance, the axis information table T1 may be used. The test can be easily performed only by changing the valid / invalid setting, and the time required for preparing the environment for driving only a part of the system at the time of maintenance can be greatly reduced.
[0034]
Further, even when only a part of the original numerical control system is driven, the four-axis control program can be executed only by changing the axis information table T1. If an error occurs in any of the axes, the axis in which the error occurred is removed from the system, and the corresponding axis number is invalidated in the axis information table T1 to execute the 4-axis control program. it can.
[0035]
Therefore, the stop time of the numerical control system in the event of a failure can be further reduced as compared with the related art, and the numerical control system can be quickly restored, and operation using only normal axes can be started.
In addition, since the time required for maintenance and troubleshooting can be greatly reduced in this way, it is possible to avoid a reduction in production capacity and availability due to stopping the numerical control system during maintenance and troubleshooting. Can be.
[0036]
Next, a second embodiment of the present invention will be described.
In the second embodiment, when the command read in the control program in the first embodiment is a command for a slave station set invalid in the axis information table T1, "Nothing" An instruction NOP to be executed is executed.
[0037]
FIG. 4 is a flowchart illustrating an example of a procedure of a control program execution process according to the second embodiment. Note that the same reference numerals are given to processes that execute the same processes as in the first embodiment.
As shown in FIG. 4, first, an instruction is read from the top of the control program (step S2), and it is determined whether this is processing for the axis, that is, whether the instruction is directed to a slave station. If not, the process moves to step S6 to execute this command. Then, the next instruction is read out. If this instruction is directed to the axis, the process proceeds from step S4 to step S8, and the axis information table T1 is referred to.
[0038]
Then, if the designated slave station is set to be valid, the process proceeds from step S10 to step S6 to execute the instruction addressed to this slave station, and conversely, the designated slave station is set to be invalid. For example, the process shifts from step S10 to step S11 to execute an instruction NOP that does nothing. That is, although nothing is performed, the time is adjusted by the time for executing the no-operation instruction NOP.
[0039]
Therefore, if the time required to execute the instruction destined for the slave station and execute the next instruction is equal to the execution time of the instruction NOP which does nothing, after executing the instruction NOP which does nothing, The timing for executing the next instruction is the same as the timing for executing the next instruction after the instruction for the slave station is actually executed. Therefore, although the instruction addressed to the slave station is not actually executed, the next instruction can be executed at the same timing as when this instruction is executed.
[0040]
Therefore, even if a change in the operation timing of each axis affects the operation of the entire numerical control system, a change in the operation timing can be avoided, and an instruction to an invalid slave station is executed. It is possible to avoid affecting the operation of the entire numerical control system due to the non-operation.
Next, a third embodiment of the present invention will be described.
[0041]
The master station M according to the third embodiment differs from the master station M according to the first embodiment in further having an instruction table T2 shown in FIG. As shown in FIG. 5, the instruction table T2 associates the instruction type addressed to the slave station with the number of executions of the no-operation instruction NOP. The number of times this instruction does nothing is set for each instruction type addressed to the slave station in accordance with the time required from when the master station M executes that instruction to when it executes the next instruction. Is set as the number of executions, the number of times that the required time for executing an instruction that does nothing is the same as the number of executions of the instruction that does nothing.
[0042]
That is, as described in the second embodiment, when the next instruction is executed without executing the instruction directed to the slave station, the instruction destined for the slave station is executed and then executed. If the time required to execute this instruction is equivalent to the time required to execute the no-operation instruction NOP once, the timing of executing the instruction following the instruction directed to the slave station is: The case where the instruction to the slave station is executed and the case where the instruction is not executed are the same.
[0043]
However, if the time required to execute the next instruction after executing the instruction addressed to the slave station exceeds the time required to execute the no-operation instruction NOP once, the next execution should be performed. The execution timing of the instruction will be shifted.
Therefore, the time required for executing the no-operation instruction NOP by the designated number of times of execution and the time required for actually executing the instruction destined for the slave station coincide with each other. Set the number of executions.
[0044]
FIG. 6 is a flowchart illustrating a procedure of a control program execution process according to the third embodiment. The same reference numerals are given to the same processing units as those in the first embodiment.
In the third embodiment, the command is read out in the control program (step S2). If the command is directed to a slave station, the process proceeds from step S4 to step S8 to refer to the axis information table T1. Then, it is determined whether the slave station to which the transmission command is transmitted is valid or invalid. If it is valid, the process proceeds from step S10 to step S6 to execute this command. Moves from step S10 to step S12, and refers to the instruction table T2 in FIG. 5 to search for the number of executions of the no-operation instruction NOP corresponding to the type of instruction to be executed next. Then, the process proceeds to step S13 to execute the instruction NOP for nothing by the number of times of execution searched in the process of step S12. If there is an instruction to be read next, the process returns to step S2 to read this.
[0045]
Here, the time required to execute the no-operation instruction NOP by the specified number of executions is set so as to correspond to the time required to execute the next instruction when the instruction directed to the slave station is executed. Is set. Therefore, after executing the no-operation instruction NOP by the designated number of executions, the timing of executing the next instruction is equal to the timing of executing the instruction directed to the slave station and then executing the next instruction. .
[0046]
Therefore, also in this case, similarly to the second embodiment, the timing of executing the instruction following the instruction that has not been executed can be set to the same timing as when the instruction is executed. Therefore, in this case as well, the same operation and effect as those of the second embodiment can be obtained, and in the third embodiment, the number of executions of the no-operation instruction NOP can be arbitrarily set according to the contents of the instruction. Therefore, even when the required time varies depending on the type of the instruction addressed to the slave station, the operation timing can be accurately matched.
[0047]
In the above-described second and third embodiments, the description has been given of the case where the instruction NOP which does nothing is executed. However, the present invention is not limited to this. For example, the instruction NOP is added to a certain variable. May be performed without effect.
Further, in the third embodiment, the instruction NOP which does nothing is repeated a predetermined number of times. However, the instruction NOP which does nothing has a required time equivalent to the required time when the instruction NOP is repeated a predetermined number of times. May be performed so as not to have an effect.
[0048]
Next, a fourth embodiment of the present invention will be described.
In the fourth embodiment, a waiting time table T3 shown in FIG. 7 is provided in place of the instruction table T2 in the third embodiment. In the waiting time table T3, as shown in FIG. 7, the instruction type addressed to the slave station is associated with the waiting time. The waiting time is set for each instruction type addressed to the slave station according to the time required from when the master station M executes the instruction to when the next instruction is executed.
[0049]
That is, in the third embodiment, the timing adjustment is performed by executing the instruction NOP which performs no operation a predetermined number of times. On the other hand, in the fourth embodiment, the timing adjustment is performed only for a predetermined waiting time. I'm waiting.
FIG. 8 is a flowchart illustrating a procedure of a control program execution process according to the fourth embodiment. The same reference numerals are given to the same processing units as those in the first embodiment.
[0050]
In the fourth embodiment, in the control program, the command is read (step S2). If the command is directed to a slave station, the process proceeds from step S4 to step S8 to refer to the axis information table T1. Then, it is determined whether the transmission destination slave station of the transmission command is valid or invalid. Moves from step S10 to step S14, and refers to the waiting time table T3 in FIG. 7 to search for a waiting time corresponding to the type of the specified instruction. Then, the process proceeds to step S15, and wait processing is performed for the waiting time searched in the processing of step S14. In other words, it waits without doing anything.
[0051]
Here, the waiting time set in the waiting time table T3 is set so as to correspond to the time required to execute the next instruction after executing the instruction addressed to the slave station. Therefore, the timing of executing the next instruction after the elapse of the designated waiting time is equivalent to the timing of executing the next instruction after executing the instruction addressed to the slave station.
[0052]
Therefore, in this case, the same operation and effect as those of the third embodiment can be obtained.
The wait process may be performed by a counter for a predetermined number of times. Therefore, a counter value may be set in the waiting time table T3.
[0053]
In each of the above embodiments, the case where the axis information table T1 is provided in the master station is described. However, the present invention is not limited to this. For example, the axis information table T1 may be provided in a storage device or the like. Any location may be provided as long as it can be referenced from the station M. Similarly, the instruction table T2 in the third embodiment and the waiting time table T3 in the fourth embodiment may be provided anywhere as long as the master station M can refer to them.
[0054]
Here, in each of the above embodiments, the axis information table T1 corresponds to the slave station information, and the processing of step S4 in FIGS. 3, 4, 6, and 8 corresponds to the instruction content determining means. The process of S10 corresponds to the invalidity judging unit, and the process of shifting from step S10 to step S2 through step S8 corresponds to the command non-execution control unit. The instruction table T2 in the third embodiment and the waiting time table T3 in the fourth embodiment correspond to instruction interval information.
[0055]
【The invention's effect】
As described above, according to the first aspect of the present invention, when the next instruction to be executed is an instruction for the slave station and is set as invalid in the slave station information, Since the next instruction is read without executing the instruction, even if the control system stops the control program when the instruction is issued to the slave station that is not connected, the slave station By setting the validity / invalidity in the information, it is possible to easily drive only some of the slave stations using the same control program.
[0056]
According to the control system of the second aspect, when the instruction destination slave station of the next instruction to be executed is set to be invalid in the slave station information, after executing the invalidation instruction for time adjustment, Since the instruction to read the next instruction is issued, it is possible to prevent the execution timing of the next instruction from being shifted due to not executing the instruction addressed to the slave station.
[0057]
According to the control system of the third aspect, a specified command interval set according to a required time from execution of an instruction to a slave station to execution of the next instruction, and a type of instruction to the slave station. Is set as instruction interval information, and when the instruction is directed to a slave station, a process having a required time corresponding to a prescribed instruction interval corresponding to this instruction is executed as an invalid instruction. Even when the required time varies depending on the type of instruction to the station, the time can be accurately adjusted.
[0058]
According to the control system of the fourth aspect, the number of times of execution of the invalid instruction is set as the specified instruction interval, and the invalid instruction is executed by the specified number of executions. Even in the case of a short time, the time adjustment for the required time corresponding to the specified instruction interval can be performed by repeatedly performing the invalid instruction.
According to the control system of the fifth aspect, since an instruction that does nothing is performed as the invalid instruction, the time can be easily adjusted without giving any adverse effect.
[0059]
Further, according to the control system of the sixth aspect, the wait processing is performed only for the time corresponding to the prescribed instruction interval corresponding to the instruction not executed as the invalid instruction, so that it is easier and more accurate without any adverse effect. Time adjustments can be made.
[Brief description of the drawings]
FIG. 1 is a configuration diagram illustrating an example of a numerical control system to which the present invention has been applied.
FIG. 2 is an example of an axis information table T1.
FIG. 3 is a flowchart illustrating an example of a processing procedure of a control program execution process according to the first embodiment.
FIG. 4 is a flowchart illustrating an example of a processing procedure of a control program execution process according to the second embodiment.
FIG. 5 is an example of an instruction table T2.
FIG. 6 is a flowchart illustrating an example of a processing procedure of a control program execution process according to a third embodiment.
FIG. 7 is an example of a waiting time table T3.
FIG. 8 is a flowchart illustrating an example of a processing procedure of a control program execution process according to a fourth embodiment.
FIG. 9 is an example of a conventional numerical control system.
[Explanation of symbols]
M master station
S1 to S4 slave station
T1 axis information table
T2 instruction table
T3 wait time table

Claims (6)

A plurality of slave stations for controlling a controlled object according to a control command;
A master station for sequentially reading and executing instructions specified by the control program, and when the instruction is an instruction for the slave station, instructing the slave station as the control instruction. At
Having slave station information indicating whether each of the slave stations is valid or invalid,
The master station, instruction content determining means for determining whether the next execution instruction to be executed next in the control program is an instruction for the slave station,
When the instruction content determining means determines that the instruction is for the slave station, invalidity determining means for determining whether or not the slave station to which the next execution instruction is instructed is set to invalid in the slave station information. When,
When the invalidity determining means detects that the instruction destination slave station is set to invalid, execution of the next execution instruction is prohibited, and instruction non-execution control means for instructing to read out the next instruction is provided. , A control system comprising: When the instruction non-execution control means determines that the invalidity setting is performed by the invalidation determination means, the instruction non-execution control means executes a preset invalid instruction for time adjustment and then issues a read instruction of the next instruction. The control system according to claim 1, wherein A specified instruction interval set according to a required time from execution of an instruction to the slave station to execution of the next instruction has instruction interval information set for each type of instruction to the slave station,
3. The method according to claim 2, wherein the instruction non-execution control unit performs, as the invalid instruction, a process having a required time corresponding to a specified instruction interval corresponding to the next execution instruction specified based on the instruction interval information. The control system as described. 4. The control system according to claim 3, wherein the prescribed instruction interval is the number of times the invalid instruction is executed, and the instruction non-execution control means executes the invalid instruction a specified number of times. The control system according to claim 2, wherein the invalid instruction is an instruction that does nothing. The instruction non-execution control means performs a wait process with a time corresponding to a specified instruction interval corresponding to the next execution instruction specified based on the instruction interval information as the invalid instruction, as a waiting time. The control system according to claim 3.

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