CONTROL APPARATUS, SYSTEM PROGRAM, AND CONTROL METHOD
FIG10 is a diagram showing an example of an execution state in a case in which only a primary task is set in the computation unit according to the present embodiment
FIG10 is a diagram showing an example of an execution state in a case in which only the primary task 240 is set in the computation unit 13 according to the present embodiment. FIG10 shows an example in which the primary task 240 and the system service task 250 (the high-priority service 252 and the low-priority service 256) are assigned priorities in this order and executed. FIG10 shows an execution state in which a process set in the primary task 240 cannot end within the control cycle 260. In such an execution state, it is also detected that the high-priority service 252 was not be able to be executed within the monitoring cycle 262 at the end time of the monitoring cycle 262 because the start notification 270 is not output from the high-priority service 252. However, in this execution state, it is not possible to instruct the primary task 240 to interrupt execution. The example of FIG10 shows an execution state in which the entire primary task 240 cannot be processed even using available computing resources within one control cycle 260. Accordingly, settings of the primary task 240 are reviewed basically.
diagram
262
monitoring cycle
252
high-priority service high-priority services
250
system service task
256
low-priority service
240
task
10
connection cable
260
control cycle control cycles
264
service cycle
['1. A control apparatus (1) for controlling a control object, comprising: a processor (100); a first program (240) which is repeatedly executed by the processor and has a highest execution priority; a second program having a lower execution priority than the first program; a third program having a lower execution priority than the second program; and a scheduler program which manages programs executed by the processor, wherein the second program includes a notification command (224) for outputting a start notification (270) according to start of execution in the processor and outputting an end notification (272) according to completion of execution in the processor, and the scheduler program (212) includes a command (2120) for causing the processor to execute the second and third programs such that execution of the first program is not obstructed, and a command (2122) for determining an execution state of the second program in each predetermined monitoring cycle (262) on the basis of the start notification and the end notification from the second program; characterized by  a fourth program (242) having a higher execution priority than the second program, wherein the scheduler program includes a command (2124) for temporarily interrupting execution of the fourth program when the execution state of the second program does not satisfy predetermined settings, the command for determining the execution state includes a command for determining an execution state of the third program in the monitoring cycle, and the scheduler program includes a command (2124) for temporarily interrupting execution of the second program when the execution state of the third program does not satisfy predetermined settings.', '3. The control apparatus according to claim 1 or 2, wherein the scheduler program  repeatedly executes the first program in each predetermined control cycle (260).']