| 摘要 |
A microcomputer is provided for each of industrial apparatuses to synchronously control them and includes a CPU, a peripheral module, and a communication interface. The peripheral module controls an external apparatus based on a specified control parameter. The communication interface includes a time register that is synchronized with the other apparatuses in time series. The communication interface issues a CPU interrupt and a peripheral module interrupt to the CPU and the peripheral module, respectively, if a successively settled correction time matches the time register. In response to the peripheral module interrupt, the peripheral module changes the control parameter from a current value to an update value. In response to the CPU interrupt, the CPU starts an update program to calculate the next update value for the control parameter and writes the calculated value to the peripheral module. |
