Control device for operating multiple types of programs in different execution formats

1. A control device comprising:

a storage device storing a first program that is entirely scanned for every execution and a second program that is executed sequentially; and

one or more processors, configured to:

execute the first program at every first cycle to output a first control command;

parse at least a part of the second program at every second cycle, which is longer than the first cycle, to sequentially generate an internal command;

output a second control command at every first cycle according to the internal command;

execute a scheduler to allocate a processor resource to one or more tasks based on a preset priority, wherein at least a first task that has a first priority comprising processing execution performed by the program execution and the command calculation by the processor, a second task that has a second priority, lower than the first priority, comprising processing execution performed by the parsing by the processor, and a third task that has a third priority comprising execution of a processing content different from the first task and the second task are set in the scheduler; and

monitor a processing state of the parsing, and when the processing state of the parsing meets a predetermined condition, change the second priority based on a ratio between a length of the second cycle and a time required for the processing execution of the second task according to the condition,

wherein the processor determines the processing state of the parsing based on information that indicates a load related to a generation process of the internal command, and

wherein the information that indicates the load comprises information of whether a time required for parsing of the second program performed by the processor exceeds the length of the second cycle.

2. The control device according to claim 1 , wherein the processor is configured to parse the second program to calculate a plurality of passing points on a trajectory of a robot at a plurality of times and generate the internal command based on the calculated passing point,

wherein the information that indicates the load comprises a number of the passing points that the processor calculates in advance for generating the internal command.

3. The control device according to claim 2 , wherein the information that indicates the load comprises a number of internal commands, which have not yet been processed by the processor, among the internal commands generated by the processor.

4. The control device according to claim 1 , wherein the information that indicates the load comprises a number of internal commands, which have not yet been processed by the processor, among the internal commands generated by the processor.

5. The control device according to claim 1 , wherein the information that indicates the load comprises a special command described in the second program,

wherein when the special command described in the second program is executed, the processor changes the second priority of the second task or the priority of the task related to the second task.

6. The control device according to claim 1 , wherein the processor raises the second priority that has been set to the second task, and then restores the second priority when another predetermined condition is met.

7. The control device according to claim 1 , wherein the processor is configured to execute parsing on a plurality of the second programs respectively to sequentially generate respective internal commands,

wherein the processor changes priorities of a plurality of the second tasks associated with the parsing of the second programs.