Management mode null of fixed cyclic

摘要

PURPOSE:To reduce an overhead caused by the start control of a fixed cycle program in its control system. CONSTITUTION:A fixed cycle table 100 has a list structure where the control data 110 on each fixed cycle program are successively linked together. The data 110 consists of a link pointer 111 which points the control data on the next link and the next starting time 112 of the fixed cycle program. The time 112 included in the table 100 is updated very time and optional fixed cycle program is started. This start of the fixed cycle program is carried out when the counted value of a down-counter 230 is equal to 0 after the least one of plural times 112 is counted down one by one by the counter 230 at every 1ms.