A motion control program that causes a computer to function as: a reception unit on a non-real-time OS that receives a control command indicating an operation to be performed by a control target device over a plurality of motion control cycles, and stores control command information indicating a content of the received control command in a control command channel that is reserved in a shared memory referable from the non-real-time OS and a real-time OS; a storage unit that obtains the control command information from the control command channel and stores it in a FIFO queue; a command processing unit that retrieves the control command information from the FIFO queue and passes it to a fixed-cycle processing unit; the fixed-cycle processing unit transmits an interpolation command to the control target device for each motion control cycle, based on the control command information.

A motion control program that causes a computer to function as: a reception unit on a non-real-time OS that receives a control command indicating an operation to be performed by a control target device over a plurality of motion control cycles, and stores control command information indicating a content of the received control command in a control command channel that is reserved in a shared memory referable from the non-real-time OS and a real-time OS; a storage unit that obtains the control command information from the control command channel and stores it in a FIFO queue; a command processing unit that retrieves the control command information from the FIFO queue and passes it to a fixed-cycle processing unit; the fixed-cycle processing unit transmits an interpolation command to the control target device for each motion control cycle, based on the control command information.

An engineering tool includes a hardware-allocation-data storage, an allocation-condition storage, and a tool processor. Hardware allocation data is to be downloaded to a controller that executes a host operating system (OS), and represents hardware allocation to each of the host OS and a guest OS that runs on a virtual machine implemented on the host OS. The allocation-condition storage stores therein hardware allocation conditions for the host OS and the guest OS. The tool processor causes a display to display a settings screen for inputting the hardware allocation data; after determining that the input hardware allocation data satisfies the allocation conditions stored in the allocation-condition storage, saves the input hardware allocation data in the hardware-allocation-data storage; and after determining that the input hardware allocation data fails to satisfy the allocation conditions, refrains from saving the input hardware allocation data therein.

This description relates to garbage chutes and more particularly to recycling of waste management utilizing intelligent software and computer hardware along with mechanical hardware to implement protocols to properly separate recycled waste into corresponding waste receptacles. Each deposit is logged into a database where software management of analytics aids in the proper management of disposal of waste and timing of separation of recyclable goods creating a more efficient recycling management system.

A method is provided for linking objects of an open platform communication unified architecture (OPC UA) data communication standard with objects of a programmable logic controller (PLC) code of a controller of an automation system is provided. The method comprises reading an OPC UA node set of a companion specification, generating OPC UA instances of the OPC UA object types of the OPC UA node set for the automation system, combining the OPC UA instances in an OPC UA instance node set, generating PLC objects in a PLC code of a control program of the automation system, and linking the OPC UA instances of the OPC UA instance node set with PLC objects of the PLC code of the control program. A development environment for carrying out the method is also provided.

A method is provided for linking objects of an open platform communication unified architecture (OPC UA) data communication standard with objects of a programmable logic controller (PLC) code of a controller of an automation system is provided. The method comprises reading an OPC UA node set of a companion specification, generating OPC UA instances of the OPC UA object types of the OPC UA node set for the automation system, combining the OPC UA instances in an OPC UA instance node set, generating PLC objects in a PLC code of a control program of the automation system, and linking the OPC UA instances of the OPC UA instance node set with PLC objects of the PLC code of the control program. A development environment for carrying out the method is also provided.

A control apparatus where control programs and information programs coexist is allowed to change programs flexibly. The control programs and information programs are installed in the control apparatus, which is provided with a shared area. The shared area is an area that at least one control program and at least one information program can access. Shared information is stored in the shared area. The shared information includes at least one of information related to an I/O port accessed by the control programs, and information related to the control program. Each control program is a program that performs scan operation of outputting control information on the relevant control object apparatus coupled to the I/O port accessed for controlling a control object apparatus with respect to the control program, to this I/O port. Each information program is a program that performs information processing that does not include the scan operation.

A control apparatus where control programs and information programs coexist is allowed to change programs flexibly. The control programs and information programs are installed in the control apparatus, which is provided with a shared area. The shared area is an area that at least one control program and at least one information program can access. Shared information is stored in the shared area. The shared information includes at least one of information related to an I/O port accessed by the control programs, and information related to the control program. Each control program is a program that performs scan operation of outputting control information on the relevant control object apparatus coupled to the I/O port accessed for controlling a control object apparatus with respect to the control program, to this I/O port. Each information program is a program that performs information processing that does not include the scan operation.

A ladder display system includes: a first controller having a first ladder program; and a second controller having a second ladder program that performs input/output processing with the first ladder program. An input/output signal table generating unit generates an input/output signal table relating an input/output signal of the first ladder program to an input/output signal of the second ladder program. An external reference execution unit specifies a signal of the second ladder program and requests transmission of at least a part of the first ladder program. A ladder program output unit transmits at least a part of the first ladder program including a signal corresponding to the specified signal to the second controller. A ladder program display unit displays at least the part of the first ladder program output by the ladder program output unit on the second controller.

According to the present invention, an input operation unit receives an input related to generation and editing of a ladder diagram program. A partial circuit search unit searches and extracts a partial circuit corresponding to a ladder circuit of an inputted command name when the input operation unit receives the command name of the ladder circuit to be inserted into the ladder diagram program. A display unit outputs an input candidate corresponding to the partial circuit extracted by the partial circuit search unit. A replacement processing unit receives selection of the input candidate outputted from the display unit, and replaces, with the selected input candidate, the ladder circuit, the command name of which has been inputted by the input operation unit.