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 that controls a plurality of control target devices, and notifies a control unit of control command information indicating a content of the received control command; the control unit that generates an interpolation command for each of the control target devices repeatedly for each of motion control cycles based on the control command information notified from the reception unit, and stores the generated interpolation command; and a communication module unit that obtains an interpolation command, converts the obtained interpolation command from a predetermined signal format which can be recognized by the control unit into a signal format with a communication interface standard which can be recognized by each of the plurality of control target devices, and transmits the interpolation command.

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 is provided which 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 from a user-created programs associated with the each reception unit, a generation unit to generate a control command channel; the channel management unit on the real-time OS 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 on the non-real-time OS that receives a control command from the user creation program and stores control command information indicating a content of the received control command, in the control command channel; and a fixed-cycle processing unit on the real-time OS 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.

The present disclosure relates to an apparatus for updating an OS (Operating System) in PLC (Programmable Logic Controller) configured to update an OS in a PLC, and to perform an operation by instantly applying the updated OS to the PLC, and a method using the same, the apparatus including an MPU (Micro Processing Unit), a flash memory, a second working memory, and a switching unit.