| 摘要 |
Provided is a control apparatus (1) that can, by causing multiple control programs that include motion computation programs to be executed in parallel, shorten the execution cycle of control programs that are executed cyclically. A microprocessor (100) is configured to execute multiple control programs in parallel. When executing communication commands included in control programs that are to be executed in parallel, a scheduling program causes the microprocessor (100) to execute the communication commands such that there is no competition between communication processes in a communication controller (150). |
