Invention Grant

Controller
Abstract:
A controller allows easy synchronization between a plurality of control programs executed in parallel to control a plurality of motors. The control programs are executed cyclically in parallel in predetermined execution cycles. Timing data for synchronizing the execution timing of the control programs is transmitted and received between the control programs. After control program 1 is executed, an axis variable to be referred to by the control program 2 is copied from an execution area of the memory for the control program 1 into a buffer area for the control program 2.
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