A control device includes a program analysis unit, a program execution unit, and a servo control unit. The program analysis unit includes a machining/non-machining state determination unit that determines whether a target block of a machining program is in a machining state or a non-machining state, a switching necessity determination unit that determines whether it is necessary to perform switching of a control target axis of the target block and/or switching of an electrical current control cycle, and an information adding unit that adds a switching request and information after switching to an analysis result of the target block. The program execution unit includes a switching execution unit that executes the switching of the control target axis of the target block and/or the switching of the electrical current control cycle. The servo control unit controls the control target axis at the switched electrical current control cycle.

A control device includes a program analysis unit, a program execution unit, and a servo control unit. The program analysis unit includes a machining/non-machining state determination unit that determines whether a target block of a machining program is in a machining state or a non-machining state, a switching necessity determination unit that determines whether it is necessary to perform switching of a control target axis of the target block and/or switching of an electrical current control cycle, and an information adding unit that adds a switching request and information after switching to an analysis result of the target block. The program execution unit includes a switching execution unit that executes the switching of the control target axis of the target block and/or the switching of the electrical current control cycle. The servo control unit controls the control target axis at the switched electrical current control cycle.

Disclosed embodiments relate to a method of independent control period allocation of axes in a PLC positioning system. In some embodiments, the method includes: dividing the axes into a first axis group including a first control period and a second axis group including a second control period and allocating different control periods for different axes; when position control calculation of the first axis group is requested during position control calculation of the second axis group, performing the position control calculation of the first axis group through task switching by an interrupt; and, after completing the position control calculation of the first axis group, resuming the position control calculation of the second axis group through task switching by an interrupt.

Disclosed embodiments relate to a method of independent control period allocation of axes in a PLC positioning system. In some embodiments, the method includes: dividing the axes into a first axis group including a first control period and a second axis group including a second control period and allocating different control periods for different axes; when position control calculation of the first axis group is requested during position control calculation of the second axis group, performing the position control calculation of the first axis group through task switching by an interrupt; and, after completing the position control calculation of the first axis group, resuming the position control calculation of the second axis group through task switching by an interrupt.