公开(公告)号：US10761884B2

公开(公告)日：2020-09-01

申请号：US16004432

申请日：2018-06-11

申请人： OMRON Corporation

发明人： Junji Shimamura ,  Tetsushi Jakunen ,  Tomonori Shimamura ,  Eiji Yamamoto ,  Masahiko Nakano

IPC分类号： G05B19/414 ,  G05B19/408 ,  G06F9/50 ,  G06F9/48 ,  G05B19/418

摘要： A control device includes at least a first task that has a first priority including processing execution performed by a program execution part and a command calculation part, a second task that has a second priority, lower than the first priority, including processing execution performed by a parsing part, and a third task that has a third priority including execution of a processing content different from the first task and the second task are set in a scheduler. The control device further includes a priority changing part monitoring a processing state of the parsing part, and when the processing state of the parsing part meets a predetermined condition, changing the second priority set to the second task corresponding to the condition.

公开(公告)号：US10606246B2

公开(公告)日：2020-03-31

申请号：US15893700

申请日：2018-02-12

申请人： OMRON Corporation

发明人： Eiji Yamamoto ,  Masahiko Nakano ,  Junji Shimamura

IPC分类号： G05B19/418 ,  G05B19/05

摘要： In a control device which can execute a first program entirely scanned in each control cycle to update a command value, and a sequentially interpreted second program, an environment for realizing higher control performance is provided. The control device includes a first program execution part scanning the entire first program in each control cycle to update a command value and a second program execution part updating the command value in each control cycle according to a sequentially interpreted second program. The second program execution part includes an interpreter generating an intermediate code and a command value operation part calculating the command value in each control cycle according to the intermediate code. The command value operation part outputs the command value in each control cycle so that the command value can be used in other processes.

公开(公告)号：US11899430B2

公开(公告)日：2024-02-13

申请号：US17598499

申请日：2020-03-05

申请人： OMRON Corporation

发明人： Yuto Yasui ,  Tomonori Shimamura ,  Masahiko Nakano ,  Takafumi Okura ,  Junji Shimamura

IPC分类号： G05B19/41 ,  G05B19/4155

CPC分类号： G05B19/4155 ,  G05B2219/41289

摘要： A controller for performing synchronization control over the master axis and the slave axis to follow an electronic cam profile includes a reference position calculator that, in response to power being restored after a power disconnect, obtains a position of the master axis and calculates reference positions of the master axis and the slave axis based on the obtained position of the master axis, a position of the master axis at cam synchronization, and the electronic cam profile, and a return control unit that performs return control to determine a position of the slave axis corresponding to a current position of the master axis based on the current position of the master axis, the electronic cam profile, and the reference positions of the master axis and the slave axis calculated by the reference position calculator, and that moves the slave axis to the determined position.

公开(公告)号：US10509393B2

公开(公告)日：2019-12-17

申请号：US15894881

申请日：2018-02-12

申请人： OMRON Corporation

发明人： Eiji Yamamoto ,  Masahiko Nakano ,  Yoshimi Kamitani ,  Tetsushi Jakunen

IPC分类号： G05B19/41 ,  G05B19/414 ,  G05B19/04

摘要： A control device and a control method capable of realizing control based on a sequence program and control based on a numerical control program with a smaller number of process steps are provided. The control device that is capable of controlling a plurality of motors includes: a first program executing unit that executes a sequence program for each control cycle; a second program executing unit that calculates an instruction value for each motor in accordance with a numerical control program; and a state managing unit that manages a control state correlated with a group including a plurality of predetermined motors of the plurality of motors. The state managing unit updates the control state based on at least one of an instruction from the first program executing unit and an execution state of the numerical control program in the second program executing unit.

公开(公告)号：US20190079500A1

公开(公告)日：2019-03-14

申请号：US15894929

申请日：2018-02-13

申请人： OMRON Corporation

发明人： Masahiko Nakano ,  Eiji Yamamoto ,  Tetsushi Jakunen

IPC分类号： G05B19/418 ,  G05B19/408 ,  G05B19/05

摘要： An environment for easily executing a plurality of types of programs in cooperation with each other is provided. A control device includes: a first program executing unit that executes a sequence program for each first control cycle and calculates a first instruction value; a second program executing unit that executes an application program which is described in codes which are sequentially interpreted and calculates a second instruction value for each first control cycle; and a shared memory configured to be accessible by both the first program executing unit and the second program executing unit. The second program executing unit executes the application program while referring to the first shared variable value stored in the shared memory in accordance with the codes described in the application program.

公开(公告)号：US10908577B2

公开(公告)日：2021-02-02

申请号：US16005683

申请日：2018-06-12

申请人： OMRON Corporation

发明人： Junji Shimamura ,  Tetsushi Jakunen ,  Tomonori Shimamura ,  Eiji Yamamoto ,  Masahiko Nakano

IPC分类号： G05B19/042 ,  G05B19/418 ,  G05B19/05 ,  G05B19/4155 ,  G05B19/414 ,  G06F13/16 ,  G06F9/54 ,  B25J9/16

摘要： The present disclosure provides a configuration of a control device that is capable of controlling the execution timing, etc. of multiple application programs when the multiple programs are executed in parallel in addition to a sequence program in a single control device. In the control device, when a first application program includes a first special command and a second application program includes a second special command, a command calculation part outputs a control command according to commands described after the first special command in the first application program and a control command according to commands described after the second special command in the second application program on the basis of a common timing.

公开(公告)号：US10678218B2

公开(公告)日：2020-06-09

申请号：US15894951

申请日：2018-02-13

申请人： OMRON Corporation

发明人： Junji Shimamura ,  Tetsushi Jakunen ,  Eiji Yamamoto ,  Masahiko Nakano ,  Masanori Ota

IPC分类号： G06F9/44 ,  G05B19/414

摘要： The present disclosure meets demand to realize control computations according to programs having different execution formats by a single control device. The control device includes a storage unit storing a first program to be scanned as a whole for each execution and a second program that is sequentially executed, an execution processing unit computing a first command value by executing the first program at every predetermined control cycle, an interpreter interpreting at least a part of the second program and generating an intermediate code, a command value computation unit computing a second command value at every control cycle according to the intermediate code generated in advance by the interpreter, and an output unit outputting the first command value computed by the execution processing unit and the second command value computed by the command value computation unit at every control cycle.