| 摘要 |
PROBLEM TO BE SOLVED: To secure the constant periodicity for execution of each program of a controller where a program A of the minimum cycle T1 and the programs B to F of a cycle T2 (=3×T1), for example, are registered. SOLUTION: The ratio calculated by dividing a cycle T2 by the minimum cycle T1 is equal to 3. therefore, a controller divides the programs B to F into groups of No. 0, No. 1 and No. 3 respectively of the program B, the programs C and D, and the programs E and F, and the controller sets the start phase of the program A at 0 together with the start phases of programs B and C set at T1×0, the start phases of programs D and E set at T1×1 and the start phase of the program F set at T1×2 respectively and starts these programs A to F. Thereby, the execution periods B-1 and c-1 of programs B and C follow the execution period A-1 of the program A. In the same way, the 1st execution of programs D and E and the execution of the program F follow the 2nd and 3rd execution periods A-2 and A-3 of the program A. Thus, the constant periodicity is secured for the programs A to F.
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