JPH11134033A - Device and method for driving - Google Patents

Abstract

PROBLEM TO BE SOLVED: To continuously and repeatedly control positioning operation even without continuously monitoring the ON/OFF address of a clutch by holding a previous output until input information is changed just for an amount shot by contents in a first memory area, and outputting the input information later until the input information is changed just for an amount shown by contents in a second memory area. SOLUTION: The first memory area corresponding to the before-ON moving amount information of a virtual clutch module is read from a parameter memory address storage area 101b and defined as virtual clutch module before-ON moving amount calculation information. Besides, the second memory area corresponding to the after-ON moving amount information of the virtual clutch module is read from a parameter memory address storage area 101c and defined as virtual clutch module after-ON moving amount calculation information. Therefore, when prescribed values are preset to the first and second memory areas, it is enough only to apply a prescribed change to a prescribed control input, and a user sequence program can be simplified.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving device and a driving method for driving an object to be controlled, and more particularly, to a driving device which is driven synchronously by a motor without using a mechanical mechanism such as a coupling shaft, a clutch, a gear, and a cam. And a driving method.

[0002]

2. Description of the Related Art A conventional example will be described with reference to the drawings. FIG.
FIG. 2 is a hardware configuration diagram illustrating a driving device, for example, a positioning controller. In the figure, 1 is a positioning controller, 2a, 2b, 2c, 2d are driving means, for example,
Servo amplifier. 3a, 3b, 3c, 3d are motors, for example, servo motors. Reference numeral 4 denotes a position detector such as an encoder for detecting the position of an arbitrary machine, and reference numeral 5 denotes a programmable controller for exchanging information with the positioning controller 1, for example, a sequence controller. 6
Is a peripheral device that performs programming and monitoring of the positioning controller 1, 7 is a CPU that executes positioning calculation, 8
Is an O / SROM in which an O / S for operating the positioning controller 1 is stored, 9 is a program memory for storing parameters required for positioning control, and 10 is a C memory.
A work memory of the PU 7, a variable memory 11 for storing parameters necessary for positioning control, a communication interface 12 between the sequence controller 5 and the positioning controller 1, a peripheral device interface 13 between the peripheral device 6 and the positioning controller 1, 14 is a position detector 4
A position detection interface for inputting the output of the servo controller 2 to the positioning controller 1;
A servo amplifier interface between 2c and 2d and the positioning controller 1, and 16 is an input / output interface for signals with external devices.

FIG. 7 is a block diagram showing an example of a combination of software modules in the positioning controller 1 for outputting position information to the servo amplifiers 2a to 2d in the same manner as in FIG. In FIG. 7, reference numeral 520 denotes a driving software module (hereinafter also referred to as a virtual driving module) for generating and outputting position information serving as a reference for driving the servomotors 3a to 3d, and 521 denotes a first for synchronizing a plurality of servomotors. A software module, for example, a connection shaft software module (hereinafter also referred to as a virtual connection shaft). The connection shaft software module 521 is a program for transmitting output information of the virtual drive module 520. 522, 523, 524,
Reference numeral 525 denotes blocks 1 to 4 each representing a group of software modules for one axis. 526, 528, 531,
Reference numeral 533 denotes a transmission software module (hereinafter, also referred to as a virtual transmission module) which represents mechanical transmission means of gears by software, and is a program for transmitting information from the virtual connection shaft 521. 529, 534 are virtual transmission modules corresponding to clutches. 535 is a virtual transmission module corresponding to the transmission, 527, 530, 5
Reference numerals 32 and 536 denote output software modules (hereinafter, referred to as output modules) for outputting commands to the servomotor. In the figure, the second software module is composed of a transmission software module 526 in block 1 (522), a transmission software module 528 and a transmission software module 529 in block 2 (523), In block 3 (524), the transmission software module 5
The block 4 (525) is composed of a transmission software module 533, a transmission software module 534, and a transmission software module 535.

Next, the operation of FIG. 1 will be described. The positioning controller 1 gives a position command to the servo amplifiers 2a to 2d, and the servo amplifiers 2a to 2d control the servo motors 3a to 3d so as to follow the position command. Then, the servo motors 3a to 3d are operated in synchronization with each other.

In FIG. 7, the output module 527 is the servo amplifier 2a, and the output module 530 is the servo amplifier 2a.
b, if the output module 532 is a software module that issues a command to the servo amplifier 2c and the output module 536 is a software module that issues a command to the servo amplifier 2d,
3d are generated by the virtual drive module 520 and operate synchronously based on the position information sent via the virtual connection shaft 521 which does not exist mechanically. When the combination of the software modules is as shown in FIG. 7, the positioning controller 1 includes the block 1, the servo amplifier 2a, and the servo motor 3
drive block having a, block 2, servo amplifier 2
b and a drive block having a servomotor 3b;
Block 3, a drive block having a servo amplifier 2c and a servo motor 3c, block 4, a servo amplifier 2d, a drive block having a servo motor 3d, a drive software module 520, and a connection shaft software module 521. Will be.

FIGS. 8 to 11 are explanatory views of a conventional virtual transmission module (hereinafter, referred to as a virtual clutch module) corresponding to a power transmission mechanism clutch disclosed in Japanese Patent Application Laid-Open No. H05-73147. FIG. 8 is a memory configuration diagram showing the storage contents of the program memory 9 relating to the virtual clutch module of the positioning controller 1. In the figure, 54
0 is a module number storage area, and 541 is a connection information storage area in which identification information of another software module in which the input axis position address data is stored is stored. The virtual clutch module performs an operation based on the input shaft position address data. Reference numeral 542 denotes an auxiliary input shaft connection information storage area, which is not used in the virtual clutch module. Reference numeral 560 denotes an arithmetic expression storage area for storing an arithmetic expression executed by the virtual clutch module, 561 denotes a variable memory address storage area for storing ON / OFF command information of the virtual clutch module, and 562 denotes a parameter storage area. Not used in modules.

FIG. 9 is a memory configuration diagram showing the contents stored in the work memory 10 of the conventional positioning controller 1 regarding the virtual clutch module. In the figure, 5
Numerals 64 and 565 denote an input axis position address data previous value x (n-1) storage area and a current value x (n) storage area, respectively. Reference numerals 566 and 567 denote an output axis position address data previous value y (n-1) storage area and a current value y (n) storage area, respectively.

FIG. 10 is a memory configuration diagram relating to a virtual clutch module in the variable memory 11 of the conventional positioning controller 1. In the figure, reference numeral 570 denotes an ON / OFF command information storage area of the virtual clutch module, which is turned ON / OFF via a communication I / F 511 by an ON command / OFF command (not shown) from a user sequence program in the sequence controller 5. Command is set.

FIG. 11 is a flow chart showing the operation of the arithmetic processing of the virtual clutch module executed by the CPU 7 in real time processing. The software shown by this flowchart is the O / SROM 8 of the positioning controller 1.
Is stored in

Next, the operation of the conventional virtual clutch module will be described with reference to FIG. Step S in FIG.
At 1080, the connection information area 54 assigned to the virtual clutch module in the program memory 9
1 is read, the input shaft position address data of the virtual clutch module is read from another software module specified by the connection information, and the input shaft position address data current value storage area x of the work memory 10 is read. (N) Stored in 565.

Next, in step S1081, the data x (n) stored in the input axis position address data present value area 565 of the work memory 10 is converted to the data x stored in the input axis position address data previous value area 564.
By subtracting (n-1), the movement amount per unit time is calculated. Next, a variable memory address storing virtual clutch module ON / OFF command information is read from the variable area 561 of the program area 9, and the virtual clutch module ON / OFF command h (570) of the variable memory 11 corresponding to this address is read. ) Is read and multiplied by the above-described movement amount per unit time. Next, the data y (n-1) stored in the previous value area 566 of the output shaft position address data of the work memory 10 is added to the result of the above multiplication, and the output shaft position address data current value y
(N) is calculated. Here, the virtual clutch module ON / OFF command data defined as a variable is 1
Or 0, so when it is 1, x (n) -x (n
-1) is calculated as the previous value y (n-1) of the output axis address data.
Is the output of the virtual clutch module, and when it is 0, the previous value y (n-1) of the output shaft address data
Becomes the output of the virtual clutch module as it is, and the previous output is held.

Next, steps S1082 and S1083 are executed, and the current value x (n) of the input axis position address data in the work memory 10 is set to the previous value x (n-1) of the input axis position address data, and the step S108 is executed.
Output shaft position address data current value y (n) calculated in 1
Is transferred to the previous value y (n-1) of the output shaft position address data to prepare for the next calculation. Step S108
In step 4, the output shaft position address data current value y (n) calculated in step S1081 is stored in the output shaft position address data current value area 567 of the work memory 10 as the output of the virtual clutch module. By executing the flowchart of FIG. 11 by real-time processing, continuous position address data is output.

FIG. 12 is an explanatory diagram showing an operation example of the virtual clutch module. In response to the input shaft position address address data X (n) 571, A indicates the address 571a for turning on the clutch, and indicates the section where the clutch is on. When C is set, the virtual clutch module ON / OFF command h (57) is input by an ON command from the user sequence program when the input shaft position address data 571 matches A.
2a) is set to 1 (ON), and the output y (n) in that section changes according to the change amount of the input axis position address data.
Next, the user sequence program determines whether or not A (571a) + C = B (571b) has been reached. At that point, the virtual clutch module ON / OFF command h (5) is issued by an OFF command from the user sequence program.
72a) becomes 0 (OFF), and then the output y
(N) indicates that the output is held unchanged even if the input axis position address data changes (573).

According to this conventional example, for example, as shown in FIG. 12, when the clutch is turned on at A (571a) and the clutch is turned off after moving in the C section, the user sequence program on the sequence controller (5) is used. (Not shown) must constantly monitor the input shaft position address data x (n), output an ON command / OFF command, and set / reset the virtual clutch module ON / OFF command h.

[0015]

In the conventional driving device and driving method, since the virtual clutch module is configured as described above, the ON / OFF operation of the clutch for the input shaft position address data is continuously repeated. When performing control, the input sequence position address data x (n) is constantly monitored by a user sequence program, and an ON command / OFF command is issued from the user sequence program, and a virtual clutch module ON / OFF command h is set / set.
It had to be reset, and complicated processing had to be performed by the user sequence program. Also,
Since the input axis position address data x (n) is monitored by the user sequence program, the ON / OFF of the clutch is shorter than the scan time of the user sequence program.
There is a problem that the F operation cannot be performed.

The present invention has been made in order to solve the above-mentioned problems.
An object of the present invention is to provide a driving device and a driving method capable of continuously and repeatedly controlling a positioning operation without constantly monitoring the F address by a user sequence program.

[0017]

A drive device according to the present invention includes a first software module for outputting predetermined position information and a plurality of drive blocks, and a drive for driving a predetermined control target by the plurality of drive blocks. A device,
The drive block includes a motor, a second software module to which position information from the first software module is input, and a drive unit that drives the motor based on a processing result by the second software module. The two software modules have one transmission software module for outputting a result of performing predetermined processing on input information, and output a result of performing predetermined processing on position information by the transmission software module. Or a plurality of transmission software modules each outputting a result of performing predetermined processing on input information, and an output of the transmission software module of the preceding stage is transmitted to the transmission software module of the subsequent stage. As input, the position information is directly transmitted by multiple transmission software modules. A predetermined transmission software module simulating a clutch mechanism in a plurality of drive blocks has first and second memory areas and is configured to output a predetermined control input to a predetermined control input. If there is no change, the previous output is held, and if there is a predetermined change in the predetermined control input, the previous output is held until the input information changes by the amount indicated by the contents of the first memory area. The input information is output until the information changes as much as indicated by the contents of the second memory area.

Further, the driving method according to the present invention comprises the following steps.
A driving method comprising: a step in which a software module outputs predetermined position information; and a step in which a plurality of driving blocks drive a predetermined control target based on the position information,
The driving block performs a process including a step of inputting position information to the second software module and a step of driving a motor by a driving unit based on a processing result by the second software module. Is configured to have one transmission software module for outputting a result of performing predetermined processing on input information, and to output a result of performing predetermined processing on position information by the transmission software module. Or a plurality of transmission software modules each outputting a result obtained by subjecting input information to predetermined processing so that the output of the transmission software module of the preceding stage is input to the transmission software module of the subsequent stage. Of input information sequentially processed by multiple transmission software modules A predetermined transmission software module that is configured to output and simulates a clutch mechanism in a plurality of drive blocks performs a process in which a previous output is held unless a predetermined control input has a predetermined change, If there is a predetermined change in the predetermined control input, the step of retaining the previous output until the input information changes by the amount indicated by the contents of the first memory area;
And a step of outputting input information until the input information changes as much as indicated by the contents of the memory area.

[0019]

BEST MODE FOR CARRYING OUT THE INVENTION

Embodiment 1 FIG. FIG. 1 is a hardware configuration diagram showing a positioning controller according to Embodiment 1 of the present invention. Although FIG. 1 is also used as a hardware configuration diagram in the prior art, an O / SROM 8, a program memory 9, a work memory 10, and a variable memory 11
Is different from that in the prior art.

Next, a virtual transmission module corresponding to the clutch according to the first embodiment of the present invention will be described. 2 to 6 are explanatory diagrams of this virtual transmission module (hereinafter, referred to as a virtual clutch module). The virtual clutch module does not operate alone, but is used in combination with other software modules. In addition,
A diagram illustrating an example of a combination of software modules configured by the positioning controller 1 according to the first embodiment of the present invention is the same as FIG. 7 illustrating a conventional example except that the configuration of the virtual clutch module is different.

FIG. 2 is a memory configuration diagram showing the contents stored in the program memory 9 relating to the virtual clutch module. In the figure, 540 is a module number storage area, and 541 is a connection information storage area in which identification information of another software module in which input axis position address data is stored is stored. The virtual clutch module executes a calculation based on the input shaft position address data. An auxiliary input shaft connection information area 542 is not used in the virtual clutch module. 100 is an arithmetic expression storage area for storing the arithmetic expressions executed by the virtual clutch module, and 101a is the O of the virtual clutch module.
N command information is stored in a variable memory address storage area. 101b and 101c are respectively a variable memory address storage area in which an address of a variable memory in which the pre-ON movement amount information of the virtual clutch module is stored, and a virtual clutch. A variable memory address storage area for storing an address of a variable memory for storing the movement amount information after the module is turned on, and a parameter storage area 562, which is not used in the virtual clutch module. The ON command information of the virtual clutch module, the moving amount information of the virtual clutch module before ON, and the moving amount information of the virtual clutch module after ON are written in the respective variable memories based on the instruction from the sequence controller 5.

FIG. 3 is a memory configuration diagram showing the contents stored in the work memory 10 relating to the virtual clutch module. Reference numerals 564 and 565 denote input axis position address data previous value x (n-1) storage areas and current value x, respectively.
(N) Storage area. Reference numeral 566 denotes a storage area for the previous value y (n-1) of the output shaft position address, 567 denotes a storage area for the current value y (n) of the output shaft position address, 110 denotes a storage area for the input shaft Δ movement amount Δx, and 111 denotes a virtual clutch module ON command. This is an information h1 storage area. This h1 is 0 when the command is OFF and 1 when the command is ON. 112,
Reference numeral 113 denotes an area for storing the pre-ON movement amount calculation information h2 of the virtual clutch module and an area for storing the post-ON movement amount calculation information h3 of the virtual clutch module.

FIGS. 4 and 5 are flowcharts showing the operation of the virtual clutch module. The operation shown by this flowchart is a part of the real-time interrupt processing operation in the positioning controller 1.

Next, the operation of the virtual clutch module will be described with reference to FIG. When the virtual clutch module is executed, the input shaft position address data is read in S1000 based on the connection information 541 and stored in the x (n) storage area 565. Next, in step S1001,
The value obtained by subtracting the previous value (xn-1) 564 of the input axis position address data from the current value x (n) 565 of the input axis position address data is defined as the input axis Δ movement amount Δx and the input axis Δ movement amount Δ
x is stored in the storage area 110.

Next, in step S1002, the storage address of the virtual clutch module ON command information is read from the variable memory address storage area 101a, and the corresponding variable memory is read, and is set as h1. The variable memory is written by a command from the sequence controller 5, and h1 indicates a control input from the sequence controller 5. Next, if the virtual clutch module ON command h1 has changed from 0 to 1 in step S1003, step S1004 is executed. If there is no change in the virtual clutch module ON command h1 from 0 to 1, the process proceeds to step S1005.

In step S1004, the storage address of the pre-ON movement amount information of the virtual clutch module is read from the variable memory address storage area 101b, and the corresponding first memory area, for example, the variable memory is read out, and the virtual clutch module movement amount before ON is read. This is calculated information h2. In addition, the storage address of the post-ON movement amount information of the virtual clutch module is read from the variable memory address storage area 101c, and the corresponding second memory area, for example,
The variable memory is read out, and is set as the post-ON moving amount calculation information h3 of the virtual clutch module.

Next, in step S1005, the current value y (n) of the output axis position address data is obtained based on the equation 100. In step S1006, the current value x (n) of the input axis position address data is converted to the previous value of the input axis position address. x (n-
In 1), the previous value y (n) of the output shaft position address data is transferred to the previous value y (n-1) of the output shaft position address data, respectively, to prepare for the next calculation. Finally, step S1
In 007, the current value y (n) of the output shaft position address data calculated in step S1005 is set as the output of the virtual clutch module, stored in the output shaft position address data current value area 567, and the processing ends. By executing the flowchart of FIG. 4 by real-time processing, position address data can be output continuously. y (n) = g (n) + y (n-1) Equation 100 g (n) = G (Δx, h2, h3) Equation 101 Δx: Input shaft Δ travel h2: Virtual clutch module ON travel calculation Information h3: Movement amount calculation information after virtual clutch module is turned on Here, Expression 101 is obtained by executing the current processing and outputting the previous output y (n
This is an expression for calculating the movement amount g (n) per unit time to be added to −1). The calculation operation will be described with reference to the flowchart of FIG.

In step S1010, it is determined whether the virtual clutch module pre-ON movement amount information h2 is smaller than 0, and if it is smaller than 0, the flow advances to step S1016. 0
If so, the process proceeds to step S1011 and step S1
At 011, the calculation result of (virtual clutch module ON movement amount calculation information h2) − (input axis Δ movement amount Δx) is stored in h2, and virtual clutch module pre-ON movement amount calculation information h2 is updated.

Next, in step S1012, step S
It is determined whether or not the virtual clutch module pre-ON movement amount calculation information h2 storing the calculation result of 1011 is equal to or greater than 0, and if it is 0 or greater, the process proceeds to step S1013. The process ends with the moving amount g (n) = 0. Step S1012
If h2 is equal to or less than 0 in step S1014, the process proceeds to step S1014. In step S1014, the calculation result of (movement amount calculation information h3 after virtual clutch module ON) + (movement amount calculation information h2 before virtual clutch module ON) is calculated as h
3 and updates the movement amount calculation information h3 after the virtual clutch module is turned on, and proceeds to step S1015. In step S1015, the current transfer movement amount per unit time g (n) =-h2, and the process ends.

Steps S1010 to S101
In step S1016, it is determined whether the virtual clutch module post-ON movement amount calculation information h3 is smaller than 0, and if it is smaller than 0, the process proceeds to step S1020. The process ends with the transfer movement amount per unit time g (n) = 0. If it is 0 or more, the process proceeds to step S1017, and in step S1017, (virtual clutch module O
The calculation of the post-N movement amount calculation information h3)-(the input shaft Δ movement amount Δx) is performed, the result is stored in h3, and the movement amount calculation information after virtual clutch module ON ON h3 is updated.

Next, in step S1018, it is determined whether or not the post-ON virtual clutch module ON movement amount calculation information h3 is 0 or more.
Then, the process proceeds to step S1019, where the current transfer movement amount per unit time g (n) = Δx, and the process ends.
If it is 0 or less, the process proceeds to step S1021, and in step S1021, the current transfer movement amount per unit time g (n) = Δx + h3, and the process ends.

FIG. 6 is an explanatory diagram showing the operation of the virtual clutch module. Clutch ON command h1 (122) is 0
This clutch ON is triggered by the time when
From the input shaft position address A (121a) when the command h1 (122) changes from 0 to 1, the input shaft position address B moved by the movement amount 124 before the virtual clutch module ON.
(121b) input axis position address data x (n) 12
When 0 is reached, transmission of the input shaft Δ movement amount Δx to the output y (n) 123 is started. After the virtual clutch module is turned on, the movement amount is transmitted for 125 minutes, and the input shaft position address data x
When the (n) 120 reaches the input axis position address C (121c), the input axis Δ movement amount Δx to the output y (n) 123
Stop transmitting. Thus, the clutch ON command h1
When the change of (122) from 0 to 1 is detected, a series of operations as described above are performed. According to the first embodiment, the user sequence program is previously stored in h2 and h3.
Is set and h1 is given a predetermined change.
Since it is not necessary to give an F command, the user sequence program can be simplified, and accurate positioning shorter than the scan time of the user sequence program can be performed.

[0033]

According to the present invention, in a driving apparatus including a first software module for outputting predetermined position information and a plurality of driving blocks, the plurality of driving blocks drive a predetermined control object. The predetermined transmission software module simulating the clutch mechanism in the block has first and second memory areas, and if there is no predetermined change in the predetermined control input, the previous output is held, and the predetermined control input is applied to the predetermined control input. If there is a predetermined change, the previous output is held until the input information changes by the contents of the first memory area, and then the input information changes until the input information changes by the contents of the second memory area. Is output so that the first,
If a predetermined value is set in the second memory area, the user sequence program only needs to give a predetermined change to a predetermined control input to this transmission software module, and the user sequence program has an effect of simplifying the user sequence program. .

[Brief description of the drawings]

FIG. 1 is a hardware configuration diagram of a positioning controller according to Embodiment 1 of the present invention.

FIG. 2 is a memory configuration diagram showing storage contents regarding a virtual clutch module in a program memory of the positioning controller according to the first embodiment of the present invention.

FIG. 3 is a memory configuration diagram showing storage contents regarding a virtual clutch module in a work memory of the positioning controller according to the first embodiment of the present invention.

FIG. 4 is a flowchart showing an operation of the virtual clutch module according to Embodiment 1 of the present invention.

FIG. 5 is a flowchart showing an operation of the virtual clutch module according to Embodiment 1 of the present invention.

FIG. 6 is an explanatory diagram showing an operation of a virtual clutch module in the positioning controller according to the first embodiment of the present invention.

FIG. 7 is a block diagram showing an example of a conventional combination of software modules for outputting position information.

FIG. 8 is a memory configuration diagram showing storage contents regarding a virtual clutch module in a program memory of a conventional positioning controller.

FIG. 9 is a memory configuration diagram showing storage contents regarding a virtual clutch module in a work memory of a conventional positioning controller.

FIG. 10 is a memory configuration diagram showing storage contents regarding a virtual clutch module in a variable memory of a conventional positioning controller.

FIG. 11 is a flowchart showing an operation of a virtual clutch module in a conventional positioning controller.

FIG. 12 is an explanatory diagram showing an operation of a virtual clutch module in a conventional positioning controller.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Positioning controller 2 Servo amplifier 3 Servomotor 4 Position detector 5 Sequence controller 6 Peripheral device 7 CPU 8 O / SROM 9 Program memory 10 Work memory 11 Variable memory 12 Communication interface 13 Peripheral device interface 14 Position detection interface 15 Servo amplifier interface 16 Input / output interface 100 Arithmetic expression storage area 101a Virtual clutch module ON command storage area 101b Virtual clutch module travel distance calculation information storage area 101c Virtual clutch module travel distance calculation information storage area 120 Input axis position address data 540 Module number 541 Connection information 560 Calculation expression storage area 561 Variable storage area 570 Virtual clutch module ON / OFF finger Storage area

Claims (2)

[Claims] 1. A drive device comprising: a first software module for outputting predetermined position information; and a plurality of drive blocks, wherein the plurality of drive blocks drive a predetermined control target. A second software module to which the position information from the first software module is input; and a driving unit that drives the motor based on a processing result by the second software module. The two software modules have one transmission software module for outputting a result obtained by subjecting the input information to predetermined processing. The transmission software module performs a predetermined processing on the position information by the transmission software module. It is configured to output, or is a result of subjecting input information to predetermined processing. The position information is processed in series by the plurality of transmission software modules so that the output of the preceding transmission software module is input to the subsequent transmission software module. The transmission software module simulating a clutch mechanism in the plurality of drive blocks has first and second memory areas, and a predetermined control input is provided to a predetermined control input. If there is no change, the previous output is held, and if there is a predetermined change in the predetermined control input, after the previous output is held until the input information changes by the amount indicated by the contents of the first memory area, The input information is configured to be output until the input information changes by an amount indicated by the contents of the second memory area. Driving apparatus characterized by there. 2. A driving method, comprising: a step in which a first software module outputs predetermined position information; and a step in which a plurality of driving blocks drive a predetermined control target based on the position information. The block performs a process including a step of inputting the position information to the second software module and a step of driving a motor by a driving unit based on a processing result by the second software module. The software module has one transmission software module for outputting a result of performing predetermined processing on input information, and outputs a result of performing predetermined processing on the position information by the transmission software module. Or a plurality of transmissions each of which outputs a result of subjecting input information to predetermined processing. A software module is provided, and a result of sequentially processing the position information by the plurality of transmission software modules is output such that an output of the preceding transmission software module is input to a subsequent transmission software module. The transmission software module simulating a clutch mechanism in the plurality of drive blocks performs a process of retaining a previous output if a predetermined control input does not have a predetermined change. If there is a predetermined change in the control input of
Retaining the previous output until the input information changes by the content of the first memory area; and outputting the input information until the input information changes by the content of the second memory area A driving method comprising the steps of: