A control system includes a control unit, a transmission unit, an application execution unit, and an arbitration unit that arbitrates a data set exchanged between the transmission unit and the application execution unit. The arbitration means includes a first acquisition unit that acquires information about pieces of process data managed by the control unit, a second acquisition unit that acquires information about an application executed by the application execution unit, a determination unit that determines process data to be included in a data set based on the information about the pieces of process data acquired by the first acquisition unit and the information about the application executed acquired by the second acquisition unit, and a notification unit that notifies each of the transmission unit and the application execution unit of a content of the process data to be included in the data set determined by the determination unit.

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 control device includes a processor that executes a plurality of tasks including a control task and a non-control task that performs related processing related to real-time control, a multitask execution part that causes the processor to execute the tasks in a sequence based on priorities of the respective tasks, and a scheduler. The control task is set to have a highest priority. The scheduler sets the priority of the non-control task to a first priority when an execution start condition of the non-control task has been satisfied, keep the priority of the non-control task at the first priority while the period of time from the execution start is less than or equal to a first time period for executing the related processing in real time, and thereafter reduces the priority to a second priority when the period of time has exceeded the first time period.

A controller includes a processor and a communication circuit. The controller controls an object of control by sequentially repeating, on a predetermined control cycle, the transmission of the output data, the reception of the input data, and execution of a control program for generating the output data using the input data. In the transmission of the output data, the processor executes: storing of the output data in a frame, the output data having been generated by the execution of the control program in a previous control cycle; and control of the communication circuit such that the frame, in which the output data is stored, is transmitted to the object of control. The processor executes, in a current control cycle, at least a part of the storing of the output data in a frame that is to be executed in a next control cycle.

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 controller includes a processor and a communication circuit. The controller controls an object of control by sequentially repeating, on a predetermined control cycle, the transmission of the output data, the reception of the input data, and execution of a control program for generating the output data using the input data. In the transmission of the output data, the processor executes: storing of the output data in a frame, the output data having been generated by the execution of the control program in a previous control cycle; and control of the communication circuit such that the frame, in which the output data is stored, is transmitted to the object of control. The processor executes, in a current control cycle, at least a part of the storing of the output data in a frame that is to be executed in a next control cycle.

Provided is a system capable of appropriately evaluating even an execution state of a program having a relatively low priority in execution of a plurality of programs having different priorities in a control apparatus. The control apparatus includes a first program which is repeatedly executed by the processor and has a highest execution priority, a second program and a third program, and a scheduler program which manages programs executed by the processor. The scheduler program includes a command for causing the processor to execute the second and third programs such that execution of the first program is not obstructed, and a command for determining an execution state of the second program in each predetermined monitoring cycle on the basis of a start notification and an end notification from the second program.

A control device includes 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 includes a processor that executes a plurality of tasks including a control task and a non-control task that performs related processing related to real-time control, a multitask execution part that causes the processor to execute the tasks in a sequence based on priorities of the respective tasks, and a scheduler. The control task is set to have a highest priority. The scheduler sets the priority of the non-control task to a first priority when an execution start condition of the non-control task has been satisfied, keep the priority of the non-control task at the first priority while the period of time from the execution start is less than or equal to a first time period for executing the related processing in real time, and thereafter reduces the priority to a second priority when the period of time has exceeded the first time period.

Provided is a system capable of appropriately evaluating even an execution state of a program having a relatively low priority in execution of a plurality of programs having different priorities in a control apparatus. The control apparatus includes a first program which is repeatedly executed by the processor and has a highest execution priority, a second program and a third program, and a scheduler program which manages programs executed by the processor. The scheduler program includes a command for causing the processor to execute the second and third programs such that execution of the first program is not obstructed, and a command for determining an execution state of the second program in each predetermined monitoring cycle on the basis of a start notification and an end notification from the second program.