| 摘要 |
PROBLEM TO BE SOLVED: To develop and debug a control program for controlling a relatively small quick response product (mechanism), without having to use an actual mechanism. SOLUTION: A simulation period is set shorter than a control period, a simulation part 20 simulates operation of a servo mechanism in the simulation period over a time period corresponding to the control period, a state quantity of the servo mechanism obtained by the simulation is outputted to a relay circuit 30. A simulation control part 22 transfers the simulation part 20 to a response waiting state, when holding the state quantity by the relay circuit 30, starts calculating operation of a control quantity of a control program executing part 10 transfers the control program executing part 10 to the response waiting state when holding the control quantity by the relay circuit 30, and starts simulation operation by the simulation part 20.
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