1 Outline
1.5 Application Program Development Environment
1-7
HW1484528
HW1484528
1.5.3 Application Program Execution Environment
The application program developed in the above-mentioned program
development environment is stored in the SD on the main CPU (ACP31)
of the robot controller, as shown in fig. 1-3 “Program Execution
Environment” .
Fig. 1-3: Program Execution Environment
When the controller power is turned ON, the application program
MotoPlusApl stored in the SD on the main CPU (ACP31), is loaded into
the memory of the ACP30 circuit board. Then, the application program is
started as a task on the real-time operating system controller OS, and
executed synchronously with the system program. The application task
can start multiple tasks, and can perform data transmission with JOB or
I/O, synchronous execution control, and exclusive control, by using the
mailbox or semaphore.
(MotoPlusApl.out)
Controller OS
ACP30 circuit board
Application
program
System
JOB
startup
obtain data
Load, startup
Application
program
ACP31 built-in SD memory
MotoPlusApl.
out
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