A motion control program that causes a computer to function as: a channel management unit on a real-time OS that creates an operation channel common to a plurality of reception units on a shared memory; the plurality of reception units on a non-real-time OS each of which instructs via the operation channel, when receiving a preparation instruction, a generation unit to generate a control command channel; the channel management unit that creates, on the shared memory, a control command channel associated with the user-created program that has provided the preparation instruction; the reception unit that receives a control command and stores control command information indicating a content of the received control command, in the control command channel; and a fixed-cycle processing unit that transmits an interpolation command to a control target device for each motion control cycle, based on the control command information obtained from the control command channel.

A motion control program that causes a computer to function as: a channel management unit on a real-time OS that creates an operation channel common to a plurality of reception units on a shared memory; the plurality of reception units on a non-real-time OS each of which instructs via the operation channel, when receiving a preparation instruction, a generation unit to generate a control command channel; the channel management unit that creates, on the shared memory, a control command channel associated with the user-created program that has provided the preparation instruction; the reception unit that receives a control command and stores control command information indicating a content of the received control command, in the control command channel; and a fixed-cycle processing unit that transmits an interpolation command to a control target device for each motion control cycle, based on the control command information obtained from the control command channel.

A method to control a process variable in a process using a control unit includes sequential determination of values of a reference variable to be supplied to the control unit based on values of a first measurand, and sequential determination of values of a regulating variable using values for the reference variable and sequentially determined values for the process variable. A current value for the reference variable is determined by sequentially saving values of the first measurand in a first FIFO memory having a number K of memory locations for saving one value respectively, and by using only the n oldest values saved in the first FIFO memory to determine the current value for the reference variable, with n being a number of values that is smaller than the number K of the values saved in the memory locations of the first FIFO memory and greater or equal 1.

A method to control a process variable in a process by means of a control unit comprises: sequential determination of values of a reference variable to be supplied to the first control unit based on the values of a first measurand; sequential determination of values of a regulating variable using both values for the reference variable and sequentially determined values for the process variable; with a current value for the reference variable being determined: by sequentially saving values of the first measurand, or values derived therefrom, in a first FIFO memory having a number K of memory locations for saving one value respectively, namely a memory featuring a number K of logically consecutive memory locations (j=i) in such a way that the oldest of the values saved in the first FIFO memory is saved in a first memory location (j=1) and the value saved last in the first FIFO memory is saved in a final memory location (j=k); and by using only the n oldest values saved in the first FIFO memory to determine the current value for the reference variable, with n being a number of values that is smaller than the number K of the values saved in the memory locations of the first FIFO memory and greater or equal 1.

A method to control a process variable in a process using a control unit includes sequential determination of values of a reference variable to be supplied to the control unit based on values of a first measurand, and sequential determination of values of a regulating variable using values for the reference variable and sequentially determined values for the process variable. A current value for the reference variable is determined by sequentially saving values of the first measurand in a first FIFO memory having a number K of memory locations for saving one value respectively, and by using only the n oldest values saved in the first FIFO memory to determine the current value for the reference variable, with n being a number of values that is smaller than the number K of the values saved in the memory locations of the first FIFO memory and greater or equal 1.