Patent ID: 9377769
Filing Date: 2016-06-28
CPC Classification: G05B,G06F

Claim Text:
1. A control apparatus for controlling a device, the apparatus comprising: a first storage that stores a user program containing a program organizer; a task executor that executes a task containing the user program; an updater that updates the program organizer stored in the first storage; and an acceptor that accepts an update of the program organizer by the updater, wherein the task executor is configured to execute a plurality of tasks simultaneously and periodically in a multitasking manner, and to execute each of the plurality of tasks with an execution cycle corresponding to the task, the plurality of tasks including the task containing the user program, and the updater is configured to update the program organizer stored in the first storage during a period of time from when the task executor has finished execution of at least two of the plurality of tasks in the respective execution cycles until when the execution cycles of the at least two of the plurality of tasks are started simultaneously again, wherein the updater is configured to update the program organizer stored in the first storage during a period of time from when execution of the tasks to be executed by the task executor that contain the program organizer for which the update was accepted by the acceptor has been finished in the respective execution cycles until when the execution cycles of the tasks containing the program organizer for which the update was accepted by the acceptor are started simultaneously again.