The invention relates to a method for correcting errors in a manipulator system, wherein the manipulator system comprises at least one manipulator and is controlled by means of at least one manipulator program, wherein the method comprises the following method steps: ⋅providing at least one manipulator program, wherein the manipulator program comprises several operations; ⋅combining at least two of the operations to form at least one operation structure; ⋅defining at least one placement point (AP1, AP2), wherein the at least one placement point (AP1, AP2) forms the start andor the end of an operation structure (310); ⋅providing at least one reaction structure (320) and assigning the reaction structure (320) to an operation structure (310), wherein tlte at least one reaction structure (320) contains reaction operations (R1 to Rn), upon the execution of which, the manipulator program controls the manipulator system such that it is passed into a system state which corresponds to a placement point (AP1, AP2); ⋅executing the manipulator program and, if an error occurs, ⋅executing the reaction structure (320) such that the manipulator system is transferred into a system stare which corresponds to a placement point (AP1, AP2).

The present disclosure provides a method for controlling driving of a motor by a Programmable Logic Controller (PLC). In one embodiment, the method includes: upon an initiation of an N-th position determination control period, stopping a scan program being executed; receiving one or more motor driving commands for one or more axes during a preset position control processing region; calculating one or more axis-based motor movement amounts corresponding to the one or more motor driving commands for the one or more axes during a preset position control calculation region; resuming execution of the scan program; and upon an initiation of a (N+1)-th position determination control period, driving the motor based on the one or more axis-based motor movement amounts calculated during the position control calculation region.

The present disclosure provides a device for controlling a position based on a programmable logic controller (PLC), the device comprising: a motor driving module; an input module; and a control module, wherein the control module includes: a profile creation unit configured for creating the position profile based on the position command when a first position calculation interrupt is generated in a first position control period; a pulse calculation unit configured for calculating a number of outputs of the driving pulse to be output in a second position control period following the first position control period based on the position profile; and a driving controller configured for outputting the driving pulse having the number of outputs calculated by the pulse calculation unit to the motor driving module when a second position calculation interrupt notifying a start time-point of the second position control period is generated.

The present disclosure provides a method for controlling driving of a motor by a Programmable Logic Controller (PLC). In one embodiment, the method includes: upon an initiation of an N-th position determination control period, stopping a scan program being executed; receiving one or more motor driving commands for one or more axes during a preset position control processing region; calculating one or more axis-based motor movement amounts corresponding to the one or more motor driving commands for the one or more axes during a preset position control calculation region; resuming execution of the scan program; and upon an initiation of a (N+1)-th position determination control period, driving the motor based on the one or more axis-based motor movement amounts calculated during the position control calculation region.

The present disclosure provides a device for controlling a position based on a programmable logic controller (PLC), the device comprising: a motor driving module; an input module; and a control module, wherein the control module includes: a profile creation unit configured for creating the position profile based on the position command when a first position calculation interrupt is generated in a first position control period; a pulse calculation unit configured for calculating a number of outputs of the driving pulse to be output in a second position control period following the first position control period based on the position profile; and a driving controller configured for outputting the driving pulse having the number of outputs calculated by the pulse calculation unit to the motor driving module when a second position calculation interrupt notifying a start time-point of the second position control period is generated.

The invention relates to a method for correcting errors in a manipulator system, wherein the manipulator system comprises at least one manipulator and is controlled by means of at least one manipulator program, wherein the method comprises the following method steps: ?providing at least one manipulator program, wherein the manipulator program comprises several operations; ?combining at least two of the operations to form at least one operation structure; ?defining at least one placement point (AP1, AP2), wherein the at least one placement point (AP1, AP2) forms the start andor the end of an operation structure (310); ?providing at least one reaction structure (320) and assigning the reaction structure (320) to an operation structure (310), wherein tlte at least one reaction structure (320) contains reaction operations (R1 to Rn), upon the execution of which, the manipulator program controls the manipulator system such that it is passed into a system state which corresponds to a placement point (AP1, AP2); ?executing the manipulator program and, if an error occurs, ?executing the reaction structure (320) such that the manipulator system is transferred into a system stare which corresponds to a placement point (AP1, AP2).

A method for operating cycle-oriented control software for controlling processes, wherein the software executes within a runtime environment on a computer system and uses two independent time bases: a first time base derived from a hardware timer, and a second time base provided by a another timer is transmitted via a network communication, and the second time base is provided via telegrams with time stamps, where a receive routine assigns time stamps to a receipt time and stores them in a buffer, an evaluation routine recognizes and compensates interrupts that disrupt the safe time base, the past values of the first time base are stored in a cyclical buffer that an interrupt handler periodically updates, the evaluation routine checks the time differences between the telegrams and corrects the second time base if required, such that reliable and safe time measurement are ensured, even in the event of system management interrupts.