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MOTION CONTROL STRUCTURE, MOTION CONTROLLER, MOTOR CONTROLLER, MULTITASKING PROGRAMMING METHOD, MULTITASKING PROGRAM, AND MULTITASKING PROGRAM STRUCTURE
MOTION CONTROL STRUCTURE, MOTION CONTROLLER, MOTOR CONTROLLER, MULTITASKING PROGRAMMING METHOD, MULTITASKING PROGRAM, AND MULTITASKING PROGRAM STRUCTURE
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机译：运动控制结构，运动控制器，电动机控制器，多任务编程方法，多任务程序和多任务程序结构
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摘要
PROBLEM TO BE SOLVED: To provide a software-bug reducible motion control structure which is capable of preventing malfunctions due to the possibility of user-created plural programs calling the same function, and which enables the user to perform programming without worrying about the effective ranges of variables, in multitasking programming for motion control.;SOLUTION: A motion control structure 10 comprises: a self-standing, multitasking-programmable user program creation unit 2 which allows a user to create, store, and execute programs; and a compiler 5 which translates a created source program A into object code B. The user program creation unit is formed in such a way that the user can define each function by specifications expanded to task functions which are effective only for defined tasks and to global functions which are effective among all tasks. The compiler is formed in such a way that each function can be assorted. The global function is applied with exclusive control in which, when the global function is called from one task, the global function is prohibited from being called from other tasks.;SELECTED DRAWING: Figure 1;COPYRIGHT: (C)2017,JPO&INPIT
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