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.