A configuration of a control device capable of efficiently operating multiple types of programs in different execution formats on a single control device is provided. At least a first task that has a first priority including processing execution performed by a program execution part and a command calculation part, a second task that has a second priority, lower than the first priority, including processing execution performed by a parsing part, and a third task that has a third priority including execution of a processing content different from the first task and the second task are set in a scheduler. The control device further includes a priority changing part monitoring a processing state of the parsing part, and when the processing state of the parsing part meets a predetermined condition, changing the second priority set to the second task corresponding to the condition.

A control device and a control method capable of realizing control based on a sequence program and control based on a numerical control program with a smaller number of process steps are provided. The control device that is capable of controlling a plurality of motors includes: a first program executing unit that executes a sequence program for each control cycle; a second program executing unit that calculates an instruction value for each motor in accordance with a numerical control program; and a state managing unit that manages a control state correlated with a group including a plurality of predetermined motors of the plurality of motors. The state managing unit updates the control state based on at least one of an instruction from the first program executing unit and an execution state of the numerical control program in the second program executing unit.

The present disclosure meets demand to realize control computations according to programs having different execution formats by a single control device. The control device includes a storage unit storing a first program to be scanned as a whole for each execution and a second program that is sequentially executed, an execution processing unit computing a first command value by executing the first program at every predetermined control cycle, an interpreter interpreting at least a part of the second program and generating an intermediate code, a command value computation unit computing a second command value at every control cycle according to the intermediate code generated in advance by the interpreter, and an output unit outputting the first command value computed by the execution processing unit and the second command value computed by the command value computation unit at every control cycle.

An integrated controller for motion control and motor control comprises a first processor, a second processor, a cache and a shared memory. The first processor is configured to run an operating system and at least perform motion control. The second processor is configured to at least perform motor control and normally not run the operating system. The cache is coupled to the first processor and the second processor. The shared memory maps onto the cache. The first processor and the second processor are configured to share the shared memory and accordingly perform data transmission via the cache during the periods of motion control and motor control. The first processor, the second processor and the cache are integrated in a same chip.

The invention relates to a method for operating an automation arrangement (1), preferably operating an automation cell (1a), having a manipulator (2a, b) and an input/output module (3a, b) for automated production and also a computer apparatus (5), wherein the computer apparatus (5) is used to execute a PLC computer program (6) for providing a programmable logic controller for the input/output module (3a, b), which PLC computer program (6) is communitively connected to the input/output module (3a, b) via a module bus (7) for the purpose of actuating said input/output module. The method is characterized in that the computer apparatus (5) is used to execute a cell control computer program (8) for actuating the PLC computer program (6) via a PLC interface (9) of the PLC computer program (6), in that the cell control computer program (8) provides an NC controller (10) for the manipulator (2a, b) and in that the cell-control computer program (8) is communicatively connected to the manipulator (2a, b) via a network bus (11) for the purpose of actuating said manipulator.

The invention relates to a method for controlling an automated work cell (2) including at least one robot arm (4) with at least three degrees of freedom (A1-A6), a programmable logic controller (6) suitable for developing a trajectory order (Om) based on an instruction to perform a trajectory of an application programmed in the programmable logic controller, a robot controller (10), suitable for steering the movement of the robot arm (4), and a communication bus (5) between the programmable logic controller (6) and the robot controller (10). The method comprises steps consisting of a) developing, in the programmable logic controller (6), a trajectory order (Om) including parameters for executing a trajectory defined at least between a departure point and an arrival point; b) transmitting the trajectory order (Om) developed in step a) to a computing unit (11) of the robot (10); c) developing, in the computing unit (11) of the robot controller (10) and based on the trajectory order (Om) transmitted in step b), elementary movement instructions for steering the robot arm (4) on the trajectory defined by the trajectory order (Om).