Tracking data acquisition system, tracking data acquisition method and program

Abstract

The present invention relates to a tracking data acquisition system, a tracking data acquisition method and a program. A plurality of industrial machines (20) of the tracking data acquisition system (1) are configured to process objects in sequence. A determination module (201) is configured to determine whether one of the plurality of industrial machines (20) satisfies a specific condition. A request module (101) is configured to request other industrial machines (20) to acquire tracking data when it is determined that one of the plurality of industrial machines (20) satisfies the specific condition.

Description

Technical Field

[0001] The present invention relates to a tracking data acquisition system, a tracking data acquisition method and a program. Background Art

[0002] WO 2015-068210A1 describes a system that is configured to upload tracking data on an industrial machine to a cloud server when an alarm is generated in the industrial machine, thereby providing the tracking data to an analyst so that the analyst can analyze the cause of the alarm generation. Summary of the invention

[0003] The problem to be solved by the present invention is to obtain data useful for analyzing the status of industrial machines, for example.

[0004] According to one aspect of the present invention, a tracking data acquisition system includes: multiple industrial machines, which are configured to process objects in sequence; a determination module, which is configured to determine whether one of the multiple industrial machines meets a specific condition; and a request module, which is configured to request other industrial machines to obtain tracking data when it is determined that one of the multiple industrial machines meets the specific condition.

[0005] According to one aspect of the present invention, a tracking data acquisition method includes: determining whether at least one of a plurality of industrial machines configured to sequentially process an object satisfies a specific condition; and when it is determined that at least one of the plurality of industrial machines satisfies the specific condition, requesting other industrial machines to acquire tracking data.

[0006] A program according to an aspect of the present invention causes a computer to function as a request module configured to request other industrial machines to acquire tracking data when at least one of a plurality of industrial machines configured to sequentially process an object satisfies a specific condition.

[0007] The tracking data acquisition system according to one aspect of the present invention further includes an acquisition module configured to acquire tracking data on one of the plurality of industrial machines that meets a specific condition and tracking data collected by other industrial machines.

[0008] In the tracking data acquisition system according to one aspect of the present invention, the specific condition is that an alarm is generated in one of the plurality of industrial machines, and the request module is configured to request other industrial machines to acquire tracking data when it is determined that an alarm is generated in one of the plurality of industrial machines.

[0009] According to one aspect of the present invention, the tracking data acquisition system also includes an acquisition module, which is configured to acquire tracking data on one of multiple industrial machines that meet specific conditions and tracking data collected by other industrial machines, and record the acquired tracking data in a storage device in association with alarm information of the generated alarm.

[0010] The tracking data acquisition system according to one aspect of the present invention further includes a host device configured to manage a plurality of industrial machines, one of the plurality of industrial machines including a transmission module configured to transmit its own tracking data to the host device.

[0011] In the tracking data acquisition system according to one aspect of the present invention, the request module is implemented by a host device, and the request module of the host device is configured to request one of a plurality of industrial machines and each of the other industrial machines satisfying a specific condition to acquire tracking data.

[0012] In a tracking data acquisition system according to an aspect of the present invention, a determination module is implemented by each of the plurality of industrial machines, and the determination module of each of the plurality of industrial machines is configured to determine whether each of the plurality of industrial machines satisfies a specific condition.

[0013] In the tracking data acquisition system according to an aspect of the present invention, the request module is configured to request all other industrial machines from the plurality of industrial machines to acquire the tracking data.

[0014] In a tracking data acquisition system according to one aspect of the present invention, a request module is configured to acquire tracking data from a plurality of industrial machines by requesting at least one of an industrial machine responsible for a previous process of one of the plurality of industrial machines satisfying a specific condition and an industrial machine responsible for a subsequent process of one of the plurality of industrial machines satisfying the specific condition.

[0015] In a tracking data acquisition system according to an aspect of the present invention, each of a plurality of industrial machines is configured to control at least one machine, and a request module is configured to request acquisition of tracking data on machines controlled by other industrial machines.

[0016] In a tracking data acquisition system according to an aspect of the present invention, each of a plurality of industrial machines includes: a storage device configured to pre-store tracking condition data; and a generation module configured to generate tracking data based on the tracking condition data.

[0017] In a tracking data acquisition system according to one aspect of the present invention, each of a plurality of industrial machines includes a generation module configured to: record measurement results of a recent period in a storage device; delete measurement results before the recent period from the storage device; and generate tracking data based on the measurement results recorded in the storage device when a request is received from a request module.

[0018] The tracking data acquisition system according to an aspect of the present invention further includes a recording module configured to record processing information of a process performed by each of the plurality of industrial machines in association with identification information of the object.

[0019] The tracking data acquisition system according to one aspect of the present invention further includes a providing module configured to provide processing information associated with identification information of a processed object when one of the plurality of industrial machines satisfies a specific condition.

[0020] In a tracking data acquisition system according to an aspect of the present invention, the tracking data includes time point information.

[0021] According to the present invention, data useful for analyzing the status of industrial machines can be acquired. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a diagram illustrating an example of the overall configuration of a tracing data acquisition system according to an embodiment of the present invention.

[0023] Figure 2 is a functional block diagram illustrating the functions implemented in the tracking data acquisition system.

[0024] Figure 3 is a table showing a data storage example of the tracking condition database.

[0025] Figure 4 is a table showing a data storage example of the alarm history database.

[0026] Figure 5 is a flow chart illustrating processing to be performed in a tracking data acquisition system.

[0027] Figure 6 is a functional block diagram of a modified example of the present invention.

[0028] Figure 7 is a table showing a data storage example of the processing information database. DETAILED DESCRIPTION

[0029] [1. Overall configuration of the tracking data acquisition system]

[0030] From the viewpoint of the inventors of the present invention, in a system including a plurality of industrial machines that sequentially process an object, each of the plurality of industrial machines may affect other industrial machines. When a certain industrial machine satisfies a certain condition, it may be that other industrial machines caused the impact. In this case, sometimes the cause may not be identified by referring only to the tracking data on the industrial machine that satisfies the condition, and thus such reference may not be sufficient to analyze the state of the industrial machine. As a result of extensive research and development for acquiring data useful for analyzing the state of an industrial machine, the inventors of the present invention conceived a novel and original tracking data acquisition system, etc. Now, a detailed description of a tracking data acquisition system, etc. according to an embodiment of the present invention is given.

[0031] Figure 1 is a diagram illustrating an example of the overall configuration of a tracking data acquisition system according to an embodiment. Figure 1 As shown, the tracking data acquisition system 1 includes a data collection device 10, controllers 20A to 20C, and motor control devices 30A1 to 30A5, 30B1 to 30B6, and 30C1 to 30C4. When it is not necessary to distinguish the controllers 20A to 20C from each other, each controller will be referred to as "controller 20" hereinafter. Similarly, when it is not necessary to distinguish the motor control devices 30A1 to 30A5, 30B1 to 30B6, and 30C1 to 30C4 from each other, each motor control device will be referred to as "motor control device 30".

[0032] The data collection device 10 is a computer configured to collect tracking data. Tracking data is data indicating a machine state as time series data. In other words, tracking data is data obtained by quantizing a detection signal of a sensor as time series data. Tracking data represents a log (history) of an operation, and is therefore also referred to as "log data". For example, in tracking data, internal information such as a torque signal, temperature information, and feedback speed, position deviation, speed deviation, or current deviation of a motor is represented as time series data.

[0033] In addition, the tracking data contains time point information (time stamp). The time point information is information related to the collection time point or acquisition time point of the tracking data, and is associated with information such as the product serial number of the workpiece produced, the controller ID for identifying each controller 20, the process ID for identifying a certain work process, and the operator ID. "Process" is defined as a process for grouping one or more industrial machines. For example, the time point information indicates the acquisition start time point of the tracking data, the timestamp of each event, the acquisition completion time point of the tracking data, the sending time point of the tracking data, the receiving time point of the tracking data, etc.

[0034] In this embodiment, the data collection device 10 is an example of a host device. The host device is a device configured to manage a plurality of controllers 20. Here, management refers to serving as a subject for collecting tracking data, and serving as a sending destination to which the tracking data is sent by the controller 20. The host device may be a device other than the data collection device 10. For example, a computer installed in an engineering tool for setting the controller 20 or the motor control device 30, a server computer within a facility (e.g., a factory), or a cloud server on the Internet may correspond to the host device.

[0035] For example, the data collection device 10 is a server computer, a personal computer, a cellular phone (including a smartphone), or a mobile terminal (including a tablet terminal). The data collection device 10 includes a CPU 11 , a storage device 12 , a communicator 13 , an operation interface 14 , and a display 15 .

[0036] The CPU 11 includes at least one processor. The storage device 12 includes a RAM, an EEPROM, and a hard disk, and is configured to store various programs and data. The CPU 11 is configured to perform various types of processing based on those programs and data. The communicator 13 includes a network card and a communication interface (such as various types of communication connectors), and is configured to transmit to / from other devices. The operation interface 14 is an input device such as a mouse and a keyboard. The display 15 is a liquid crystal display, an organic EL display, etc., and is configured to display various types of screens according to instructions from the CPU 11.

[0037] The controller 20 is a device configured to control at least one motor control device 30. In this embodiment, the controller 20 is an example of an industrial machine. Here, the industrial machine refers to a machine configured to process objects in sequence. The object is an object to be processed, and is, for example, a component of a car, a motorcycle, etc., an electrical product, a material such as ceramics or resin, or a food. For example, the object moves on a conveying device such as a belt conveyor and is processed in a predetermined order. The industrial machine may be a device other than the controller 20. For example, the motor control device 30 may correspond to the controller 20, or a robot controller, a machine tool, a PLC, etc. may correspond to the industrial machine.

[0038] For example, the controller 20 includes a CPU 21, a storage device 22, and a communicator 23. The physical configuration of the CPU 21, the storage device 22, and the communicator 23 is the same as that of the CPU 11, the storage device 12, and the communicator 13. The communicator 23 may include an integrated circuit for a specific application (e.g., motor control). Figure 1 In the embodiment, the respective components of the controllers 20A to 20C are represented by reference numerals each formed by a numerical value followed by a letter, such as CPU 21A, 21B, and 21C, storage devices 22A, 22B, and 22C, and communicators 23A, 23B, and 23C, so that those components are distinguished from each other. If there is no distinction between the respective components, the letter suffix is ​​omitted.

[0039] The motor control device 30 is a device configured to control at least one motor. The motor control device 30 may also be referred to as a "servo amplifier" or a "servo pack" (trademark). For example, the motor control device 30 includes a CPU, a communication circuit, a DRAM, and an EEPROM, and controls the voltage of the motor based on a command received from the controller 20. The motor may be a rotary motor or a linear motor. For example, various sensors such as a motor encoder, a torque sensor, and a temperature sensor are connected to the motor control device 30. The motor control device 30 acquires a detection signal of each sensor and sends the detection signal to the controller 20 at any time.

[0040] In this embodiment, it is assumed that a communication protocol developed for industrial machines is used in both the network connecting the data collection device 10 and the controller 20 to each other (upper-side network) and the network connecting the controller 20 and the motor control device 30 to each other (lower-side network), but various communication protocols may be used as communication protocols for these networks.

[0041] In addition, in this embodiment, a description is given of a case where the tracking data acquisition system 1 includes three controllers 20, but the tracking data acquisition system 1 only needs to include a plurality of controllers 20, and the number thereof may also be two or four or more. In addition, the number of motor control devices 30 connected to one controller 20 may be any number, and may also be one. Furthermore, in addition to the motor control device 30, a sensor (e.g., a temperature sensor), a camera configured to image a processing state, and the like may be connected to the controller 20.

[0042] In addition, the program and data described as being stored in each of the data collection device 10, the controller 20, and the motor control device 30 may be supplied through a network. In addition, the hardware configuration of the data collection device 10, the controller 20, and the motor control device 30 is not limited to the above example, and various types of hardware may be applied. For example, a reader configured to read a computer-readable information storage medium (e.g., an optical drive or a memory card slot) and an input / output device configured to be directly connected to an external device (e.g., a USB terminal) may be included. In this case, the program and data stored in the information storage medium may be supplied through the reader or the input / output device.

[0043] [2. Overview of the tracking data acquisition system]

[0044] In the tracking data acquisition system 1, the object is processed in sequence by causing each of the plurality of controllers 20 to send a command to the motor control device 30 connected thereto, and causing the motor control device 30 to operate the motor based on the command. In this embodiment, a description is given on the assumption that the controllers 20A, 20B, and 20C process the object in this order.

[0045] For example, each controller 20 receives a torque signal, temperature information, etc. from the motor control device 30, thereby determining whether an alarm is generated. For example, when the peak value of the torque signal becomes equal to or higher than a threshold value or when the temperature information becomes equal to or higher than a threshold value, the controller 20 determines that an alarm is generated. When an alarm is generated in any one of the controllers 20, not only the controller 20 but also the other controllers 20 stop operating. Then, when the worker or the like eliminates the cause of the alarm generation, the operation of each controller 20 is resumed.

[0046] Since there are various reasons for generating an alarm, it is very important to obtain tracking data that is effective for analyzing the cause. For example, in this embodiment, when a plurality of controllers 20 sequentially process the same object, the operations of the plurality of controllers 20 are closely related to each other, and the cause of the alarm generated in a certain controller 20 may exist in other controllers 20. In this case, the cause of the alarm cannot be identified by only obtaining the tracking data on the controller 20 that generated the alarm.

[0047] Therefore, in this embodiment, there is provided a configuration such that when an alarm is generated in any one of the controllers 20, tracking data is acquired from all the controllers 20 by broadcasting a request, and the tracking data on all the controllers 20 is acquired by the data collection device 10. For example, when an alarm is generated in the controller 20B, the cause thereof may exist in the controller 20A or 20C, and the data collection device 10 acquires tracking data not only on the controller 20B but also on the controllers 20A and 20C where no alarm is generated. As a result, data useful for analyzing the status of the controller 20 can be acquired. Now, a detailed description of the tracking data acquisition system 1 is given.

[0048] [3. Functions to be implemented in the tracking data acquisition system]

[0049] Figure 2 1 is a functional block diagram illustrating functions to be implemented in the tracking data acquisition system 1. Now, the functions implemented by each of the data collection device 10 and the controller 20 are described.

[0050] [3-1. Functions to be implemented in the data collection device]

[0051] like Figure 2 As shown, in the data collection device 10, a data storage device 100, a request module 101 and an acquisition module 102 are implemented. The data storage device 100 is mainly implemented by the storage device 12. The request module 101 and the acquisition module 102 are mainly implemented by the CPU 11.

[0052] [Data storage device]

[0053] The data storage device 100 is configured to store data required for collecting the trace data DT2. For example, the data storage device 100 stores a trace condition database DB1 and an alarm history database DB2.

[0054] Figure 3 : is a table showing an example of data storage in the tracking condition database DB1. Figure 3As shown, the tracking condition database DB1 is a database that stores the tracking condition data on each controller 20 and stores a controller ID for uniquely identifying each controller 20 and the tracking condition data. As information for uniquely identifying the controller 20, other information such as the name or IP address of the controller can be used.

[0055] The tracking conditions are measurement conditions for generating the tracking data DT2, and include, for example, the axis to be tracked, the type of signal to be tracked, the sampling period, the time zone for performing the tracking, etc. The tracking condition data are data representing those tracking conditions, and the details of the tracking condition data are set, for example, by a user who operates the data collection device 10. For example, the tracking condition data stored in the tracking condition database DB1 is loaded to the controller 20, for example, at the moment when the power is turned on.

[0056] The tracking condition data may be pre-stored in each controller 20, or may be loaded at any time other than when the power is turned on. In addition, in this embodiment, a description is given of a case where the tracking condition data is prepared for each controller 20, but a common tracking condition may be set for a plurality of controllers 20. For example, a common tracking condition may be set for all controllers 20, or a common tracking condition may be set for a part of the controllers 20.

[0057] Figure 4 : is a table showing an example of data storage of the alarm history database DB2. Figure 4 As shown, the alarm history database DB2 is a database in which trace data DT2 collected when an alarm is generated is stored, and stores, for example, the generation date and time of the alarm, the alarm code, the controller ID of the controller 20 that generated the alarm, and the trace data DT2.

[0058] The generation date and time of the alarm is the time point when the alarm is generated or a time point before or after the time point, and may be the date and time when the controller 20 detects the alarm, or the date and time when the data collection device 10 receives the alarm generation notification. The alarm code indicates the type of alarm generated, and takes any one of the values ​​of a plurality of codes such as torque abnormality and temperature abnormality. It is assumed that the relationship between the alarm code and the details of the alarm is predefined in the data storage device 100.

[0059] In this embodiment, when an alarm is generated in any one of the controllers 20, the tracking data DT2 on all the controllers 20 existing on the same network are collected, and thus the tracking data DT2 on all the controllers 20 collected at the generation date and time of each alarm are stored in the alarm history database DB2. The information stored in the alarm history database DB2 can be provided to the user at any time. For example, a plurality of tracking data DT2 associated with a certain alarm code can be displayed so as to be compared with each other on the user's terminal, or the tracking data DT2 associated with the alarm generated within a certain period can be displayed on the user's terminal.

[0060] The data to be stored in the data storage device 100 is not limited to the above-mentioned examples. For example, the data storage device 100 may store machine information indicating the configuration of the motor control device 30, sensors, etc. connected to the controller 20, or may store the name and IP address of each controller 20. In addition, for example, the data storage device 100 may store information identifying the process (the order of processing objects) for which the controller 20 is responsible. In addition, for example, the data storage device 100 may store a broadcast address in a communication path connecting the data collection device 10 with the controller 20.

[0061] [Request module]

[0062] When the determination module described later determines that the controller 20 satisfies a specific condition, the request module 101 requests the other controllers 20 to acquire the trace data DT2. The specific condition only needs to be a predefined condition and is a condition that causes the controller 20 to enter a predetermined state or the controller 20 to perform a predetermined operation. In other words, the specific condition is a condition that indicates whether to collect the trace data DT2.

[0063] In this case, "acquisition of the tracking data DT2" means causing the controller 20 to ensure the security of the data that can be acquired. As in the embodiment, when the controller 20 uses a ring buffer to record data, ensuring the security of the data by copying the data to another storage area, an external memory, etc. corresponds to acquisition of the tracking data DT2. For example, when the controller 20 does not use a ring buffer, not overwriting or not deleting the data corresponds to acquisition of the tracking data DT2. For example, when the controller 20 acquires the tracking data DT2 after receiving a request from the request module 101, the process of storing the tracking data DT2 in the data storage device 200 of the controller 20 corresponds to the process of acquiring the tracking data DT2.

[0064] The request of the request module 101 is used as a trigger to enable the controller 20 to acquire the tracking data DT2. The request can be made by sending information in a predetermined form. In this embodiment, the controller 20 does not always acquire the tracking data DT2 immediately after receiving the request. For example, when the condition for acquiring the tracking data DT2 is met after receiving the request, the controller 20 acquires the tracking data DT2. For example, the condition can be any condition, and for example, it is a condition that the torque signal presents a specific waveform, or the feedback speed of the motor is within a predetermined range. When synchronous communication can be performed between the data collection device 10 and the controller 20, and the request of the request module 101 is sent through synchronous communication (that is, the request is processed as a synchronous task), the controller 20 can acquire the tracking data DT2 immediately after receiving the request.

[0065] In this embodiment, a description is given of a case where the generation of an alarm corresponds to the satisfaction of a specific condition, but any condition may be used as a specific condition. For example, the specific condition includes a condition such that although the generation condition of the alarm is not satisfied (the processing of the object is not stopped), a specific switch in the controller 20 is turned on, the switch is turned off, or the detection signal of the sensor exhibits a predetermined characteristic. The predetermined characteristic may be a characteristic specified by the user as required for collecting the tracking data DT2. The predetermined characteristic includes a characteristic such that the waveform of the torque signal is disturbed, the stabilization time becomes equal to or greater than a threshold value, and the peak value or convergence value of the torque signal exceeds the allowable range.

[0066] When it is determined that an alarm is generated in the controller 20, the request module 101 requests other controllers 20 to acquire the trace data DT2. The other controllers 20 are controllers 20 that do not generate an alarm. The request module 101 may request at least one of the other controllers 20 to acquire the trace data DT2.

[0067] In this embodiment, a description is given of the following case: when an alarm is generated in a certain controller 20, the request module 101 requests all controllers 20 existing on the same network to acquire the tracking data DT2. That is, the request module 101 requests each controller 20 that generates the alarm and the other controllers 20 to acquire the tracking data DT2. When the controller 20 that generates the alarm spontaneously sends the tracking data DT2, the request module 101 does not need to request the controller 20 that generates the alarm to acquire the tracking data DT2, and thus may not request to acquire the tracking data DT2. In addition, as in a modified example of the present invention described later, the request module 101 may request not all other controllers 20 but a part of the other controllers 20 to acquire the tracking data DT2.

[0068] For example, the request module 101 sends a packet including an identifier indicating a request for obtaining the trace data DT2 to all controllers 20, thereby requesting to obtain the trace data DT2. The request module 101 may send the packet to a broadcast address, or may send the packet to an IP address of each controller 20.

[0069] In this embodiment, the three controllers 20A to 20C belong to the same group and process a common object, but there may be multiple groups in a facility (such as a factory). The group is also referred to as a "line" or a "unit". In this case, the network can be divided into parts corresponding to the respective groups, so that tracking data DT2 can be collected for each group. When an alarm is generated in a certain group, the request module 101 can request other groups to obtain tracking data DT2, but different groups have a long-distance relationship with the alarm. Therefore, in this embodiment, it is assumed that other groups are not requested to obtain tracking data DT2. That is, when it is determined that an alarm is generated in a controller 20 in a certain group, the acquisition module 101 requests all controllers 20 in the group to obtain tracking data DT2, without requesting other groups to obtain tracking data DT2.

[0070] In addition, when no alarm is generated, the request module 101 may request the controller 20 to obtain the tracking data DT2. For example, when the user of the data collection device 10 performs a predetermined operation or when an application executed by the data collection device 10 satisfies a predetermined condition, the request module 101 may request the controller 20 to obtain the tracking data DT2.

[0071] [Get module]

[0072] The acquisition module 102 acquires the tracing data DT2 on the controller 20 that satisfies a specific condition and the tracing data DT2 on the other controllers 20. In this embodiment, the generation of an alarm corresponds to the satisfaction of the specific condition, and the acquisition module 102 acquires the tracing data DT2 on the controller 20 that generates the alarm and the tracing data DT2 on the other controllers 20. In addition, in this embodiment, the request module 101 requests all controllers 20 to acquire the tracing data DT2, and thus the acquisition module 102 acquires the tracing data DT2 sent by each controller 20 in response to the request of the request module 101.

[0073] When the controller 20 generating the alarm spontaneously transmits the tracking data DT2, the acquisition module 102 acquires the spontaneously transmitted tracking data DT2. In addition, when the acquisition of the tracking data DT2 is requested by the operation of the user or the processing of the application executed by the data collection device 10, the acquisition module 102 acquires the transmitted tracking data DT2 in response to the request. In addition, in the case where the tracking data DT2 is transmitted when a predetermined trigger condition is satisfied in the controller 20, the acquisition module 102 acquires the transmitted tracking data DT2 in response to the satisfaction of the trigger condition.

[0074] In this embodiment, the acquisition module 102 records the acquired tracking data DT2 in the storage device in association with the alarm information of the generated alarm. The alarm information may be any information related to the alarm, and is, for example, the generation date and time, the alarm code, or the controller ID of the controller 20 that generated the alarm. The alarm information may contain setting information such as the parameters of the controller 20 or the motor control device 30 when the alarm is generated.

[0075] Furthermore, in this embodiment, acquisition of the tracking data DT2 is requested not only from the controller 20 that generates the alarm but also from all other controllers 20, and thus the acquisition module 102 acquires the tracking data DT2 on all the plurality of controllers 20. Therefore, the tracking data DT2 on all the controllers 20 are stored in the alarm history data of one alarm. As described above, all the controllers 20 mean all the controllers 20 existing on the same network, which include the controller 20 that generates the alarm and other controllers 20, and do not include controllers 20 on other networks.

[0076] In this embodiment, each of the plurality of controllers 20 controls at least one motor control device 30, and thus the acquisition module 102 acquires the tracking data DT2 on the motor control device 30 controlled by the controller 20 that generates the alarm and the tracking data DT2 on the motor control devices 30 controlled by the other controllers 20. Figure 1 In the configuration example of , the acquisition module 102 acquires the tracking data DT2 on all motor control devices 30A1 to 30A5, 30B1 to 30B6, and 30C1 to 30C4. When an axis is not specified as an axis to be tracked in the tracking condition data, the axis is excluded from the acquisition target of the tracking data DT2.

[0077] The acquisition module 102 can acquire the tracking data DT2 at any time. The time may be a time when the communication traffic of the network is relatively small and there is room for additional communication, or it may be a convenient time for at least any one of the data collection device 10 and the controller 20. For example, a convenient time is a time when the processing load is relatively small and when no important synchronization tasks are processed. In addition, for example, the tracking data DT2 can be stored in the controller 20, and the acquisition module 102 can acquire the tracking data DT2 when the user performs an operation of analyzing the tracking data DT2, or the acquisition module 102 can acquire the tracking data DT2 when a predetermined collection time point is reached.

[0078] [3-2. Functions to be implemented in the controller]

[0079] like Figure 2As shown, in the controller 20, a data storage device 200, a determination module 201, a generation module 202 and a sending module 203 are implemented. In this embodiment, all controllers 20 have the same function, and therefore, for the sake of simplicity, Figure 2 Only one controller 20 is shown in the figure. The data storage device 200 is mainly implemented by the storage device 22. The determination module 201, the generation module 202 and the sending module 203 are mainly implemented by the CPU 21.

[0080] [Data storage device]

[0081] The data storage device 200 is configured to store data required to send the tracking data DT2 to the data collection device 10. For example, the data storage device 200 is configured to store the tracking condition data DT1. In this embodiment, when the power of the controller 20 is turned on, the tracking condition data DT1 is loaded, and the data storage device 200 stores the loaded tracking condition data DT1.

[0082] In addition, for example, the data storage device 200 stores the tracking data DT2 generated based on the tracking condition data DT1. The tracking data DT2 can be stored in any storage area of ​​the data storage device 200. In this embodiment, a description is given of the following case: the tracking data DT2 is stored in a storage area called a ring buffer. For example, the ring buffer stores the measurement results in the most recent period, and deletes the measurement results before the period. The period during which the measurement results are retained in the storage data DT2 is determined according to the memory size of the ring buffer.

[0083] The data stored in the data storage device 200 is not limited to the above-mentioned examples. For example, the data storage device 200 may store machine information indicating the configuration of the motor control device 30, sensors, etc. connected to the controller 20, the name and IP address of each motor control device 30, parameters of the motor control device 30, etc. In addition, for example, the data storage device 200 may store the IP address of the data collection device 10 and the broadcast address in the communication path connecting the data collection device 10 and the controller 20.

[0084] [Judgment module]

[0085] The determination module 201 is configured to determine whether the controller 20 satisfies a specific condition. In this embodiment, the determination module 201 is implemented by any one of the plurality of controllers 20, and thus each determination module 201 of the plurality of controllers 20 determines whether its own controller 20 satisfies a specific condition.

[0086] The determination module 201 determines whether a specific condition is satisfied based on detection signals of sensors and switches acquired by the controller 20 and the like. For example, the determination module 201 determines whether a specific condition is satisfied based on detection signals of a motor encoder, a torque sensor, and the like connected to the motor control device 30. In addition, for example, the determination module 201 determines whether a specific condition is satisfied based on a detection signal of a temperature sensor connected to the controller 20. In addition, for example, the determination module 201 determines whether a specific condition is satisfied based on a detection signal indicating the on / off state of a switch in the controller 20.

[0087] In this embodiment, the generation of an alarm in the controller 20 corresponds to the satisfaction of a specific condition, and the determination module 201 determines whether the controller 20 satisfies the alarm generation condition. For example, the alarm generation condition is defined for each alarm code, and thus the determination module 201 determines whether the value indicated by the detection signal of the sensor acquired by the controller 20 satisfies the generation condition. The determination module 201 generates an alarm of the alarm code that satisfies the generation condition, and transmits the generation date and time of the alarm and the alarm code of the generated alarm to the data collection device 10, for example.

[0088] [Generate Module]

[0089] The generation module 202 is configured to generate the tracking data DT2 based on the tracking condition data DT1. For example, the generation module 202 is configured to generate the tracking data DT2 including the measurement results measured based on the tracking condition data DT1. In this embodiment, information such as the axis to be tracked, the type of signal to be tracked, the sampling period, or the time zone in which the tracking is performed is indicated in the tracking condition data DT1, and the generation module 202 generates the tracking data DT2 based on the information. When the time point information is included in the tracking data DT2 as in this embodiment, the generation module 202 can obtain the date and time through the real-time clock and include the date and time in the tracking data DT2.

[0090] In this embodiment, the trace data DT2 is stored in a ring buffer, and the generation module 202 records the measurement results in the most recent period in the data storage device 200, and deletes the measurement results before the period from the data storage device 200. Then, when the generation module 202 receives a request from the request module 101, the generation module 202 generates the trace data DT2 based on the measurement results recorded in the data storage device 200. That is, the generation module 202 captures the trace data DT2 at the time point when the request from the request module 101 is received, and obtains the trace data DT2 as the trace data DT2 to be sent.

[0091] When the controller 20 that generates the alarm spontaneously transmits the tracking data DT2, the generating module 202 may capture the tracking data DT2 at the time point when the alarm is generated, and obtain the tracking data DT2 as the tracking data DT2 to be transmitted. In addition, when the tracking data DT2 is transmitted at a time other than the generation of the alarm, the generating module 202 may capture the tracking data DT2 at that time point, and obtain the tracking data DT2 as the tracking data DT2 to be transmitted.

[0092] [Send module]

[0093] The sending module 203 sends its own tracking data DT2 to the data collection device 10. In this embodiment, when the request module 101 of the data collection device 10 requests to obtain the tracking data DT2, the sending module 203 sends the tracking data DT2 generated by the generating module 202. When the controller 20 that generates an alarm spontaneously sends the tracking data DT2, the sending module 203 sends the tracking data DT2 generated by the generating module 202 when the alarm is generated. In addition, when the tracking data DT2 is sent at a time other than the generation of the alarm, the sending module 203 sends the tracking data DT2 generated by the generating module 202 when the time arrives.

[0094] [4. Processing to be performed in the tracking data acquisition system]

[0095] Figure 5 is a flowchart illustrating processing to be performed in the tracking data acquisition system 1 . Figure 5 The processes shown are executed by the CPUs 11 and 21, respectively, which operate according to programs stored in the storage devices 12 and 22. The processes described below are Figure 2 1 and 2. An example of the processing to be performed by the functional blocks shown. In this embodiment, the processing of generating and sending the tracking data DT2 itself is common to all controllers 20, and therefore, for the sake of simplicity, Figure 5 Only one controller 20 is shown.

[0096] like Figure 5 As shown, when the power of the controller 20 and the like is turned on, the CPU 11 loads the tracking condition data DT1 to each of the plurality of controllers 20 based on the tracking condition database DB1 in the data collection device 10 (step S1). In step S1, the CPU 11 refers to the IP address of the controller 20 stored in the storage device 12, thereby identifying the controller 20 connected under the data collection device 10. Then, the CPU 11 sends the tracking condition data DT1 stored in the tracking condition database DB1 to the identified controller 20.

[0097] When the tracking condition data DT1 is received in each controller 20, the CPU 21 records the received tracking condition data DT1 in the storage device 22 (step S2). The axis to be tracked, the type of information, etc. are set by the processing in step S2. Subsequently, the controller 20 sends a command to the motor control device 30, and the motor control device 30 controls the motor according to the command. The motor control device 30 sends the detection results of the torque sensor, the motor encoder, the temperature sensor, etc. to the controller 20.

[0098] The CPU 21 acquires detection results such as detection results of the torque sensor from the motor control device 30, and stores the detection results in the ring buffer of the storage device 22 (step S3). The detection results within the latest certain period are stored in the ring buffer. Therefore, in step S3, the CPU 21 stores the detection results acquired from the motor control device 30 in the ring buffer, and deletes the latest detection results.

[0099] The CPU 21 determines whether to generate an alarm based on the detection result of the torque sensor etc. acquired from the motor control device 30 (step S4). For example, a generation condition is defined for each alarm code in the storage device 22, and in step S4 the CPU 21 determines whether the generation condition of each alarm code is satisfied.

[0100] When it is determined that no alarm is generated ("No" in step S4), the process returns to step S3, and the detection result of the torque sensor, etc. is stored in the ring buffer. Meanwhile, when it is determined that an alarm is generated ("Yes" in step S4), the CPU 21 sends an alarm generation notification to the data collection device 10 (step S5). In step S5, the CPU 21 sends an alarm generation notification containing its own controller ID, the date and time of alarm generation (i.e., the current date and time), and the alarm code of the generated alarm.

[0101] When the CPU 11 receives the alarm generation notification in the data collection device 10, the CPU 11 requests all controllers 20 to acquire the tracking data DT2 by broadcasting (step S6). In step S6, the CPU 11 sends a packet including an identifier requesting acquisition of the tracking data DT2 to the broadcast address of the network connected to the controller 20 that sent the alarm generation notification. As a result, the information of the generation of the alarm is shared among all the controllers 20, and each controller 20 stops operating.

[0102] When receiving the request to obtain the trace data DT2 in each controller 20, the CPU 21 generates the trace data DT2 (step S7), and sends the trace data DT2 generated in step S7 to the data collection device 10 (step S8). In step S7, the CPU 21 captures the current state of the ring buffer of the storage device 22, and obtains the state as the trace data DT2. In step S8, the CPU 21 sends the obtained trace data DT2 as a response to the request to obtain the trace data DT2.

[0103] When the CPU 11 receives the tracking data DT2 from each controller 20 in the data collection device 10, the CPU 11 stores the received tracking data DT2 in the alarm history database DB2 in association with the alarm information (step S9), and the process is completed. In step S9, the CPU 11 creates a new record in the alarm history database DB2, and stores the generation date and time of the alarm received in step S6 and the alarm code and the controller ID of the controller that sent the alarm generation notification received in step S6. In addition, the CPU 11 stores the tracking data DT2 received from all the controllers 20 in the record. When the operation of the controller 20 is resumed by a worker or the like, the process is performed again from step S1 or step S3.

[0104] With the tracking data acquisition system 1, when an object is processed sequentially by the control of each of the plurality of controllers 20, data useful for analyzing the state of the controller 20 can be acquired not only by requesting the controller 20 that satisfies a specific condition (e.g., alarm generation), but also by requesting other controllers 20 (e.g., controllers 20 that do not satisfy the specific condition) to acquire tracking data DT2. As a result, the analysis work of an analyst such as a worker can be supported, or data can be analyzed by AI, etc., and thus the accuracy of the analysis can be improved. For example, when a certain controller 20 satisfies a specific condition, the satisfaction can be caused by the state of the controller 20 or the state of other controllers 20. In this regard, the cause can be analyzed in either case by additionally acquiring the tracking data DT2 on the other controllers 20. In addition, for example, in the case where the tracking data DT2 is automatically acquired when the controller 20 satisfies a specific condition, the other controllers 20 do not satisfy the specific condition, and therefore the tracking data DT2 cannot be automatically acquired. However, the tracking data DT2 on the other controllers 20 can also be reliably acquired by causing the request module 101 to request acquisition of the tracking data DT2. Furthermore, when the data collection device 10 always collects the trace data DT2 , the memory consumption increases, but the memory consumption can be suppressed by acquiring the trace data DT2 when a specific condition is satisfied.

[0105] Furthermore, the trace data DT2 can be centrally managed in the data collection device 10 by causing the data collection device 10 to acquire the trace data DT2 on the controller 20 that generates the alarm and the trace data DT2 on other controllers 20 .

[0106] In addition, when the generation of an alarm is used as a specific condition, data useful for analyzing the state of the controller 20 is obtained not only by acquiring the tracking data DT2 on the controller 20 that generates the alarm but also by acquiring the tracking data DT2 on other controllers 20 (controllers 20 that do not generate the alarm). As a result, the analysis work of analysts such as workers can be supported, data can be analyzed by AI, etc., and the accuracy of the analysis can be improved. For example, when an alarm is generated in a certain controller 20, the generation may be caused by the state of the controller 20 or the state of other controllers 20. In this regard, by additionally acquiring the tracking data DT2 on other controllers 20, the cause of the generation of the alarm can be analyzed in either case. In addition, for example, in the case where the tracking data DT2 is automatically acquired when an alarm is generated in the controller 20, no alarm is generated in the other controllers 20, and therefore the tracking data DT2 cannot be automatically acquired. However, the tracking data DT2 on other controllers 20 can also be reliably acquired by causing the request module 101 to request the acquisition of the tracking data DT2. Furthermore, when the data collection device 10 always collects the trace data DT2 , the memory consumption increases, but the memory consumption can be suppressed by acquiring the trace data DT2 when an alarm is generated.

[0107] In addition, by recording the tracking data DT2 in association with the alarm information, the analysis of the cause of the alarm generation can be effectively supported. For example, by allowing the analyst to analyze the tracking data DT2 of each alarm type, the analyst's analysis work on the cause can be facilitated. In addition, a highly accurate learner can be created by, for example, creating teacher data for machine learning for each type of alarm, and thus the accuracy of analysis by AI can be improved.

[0108] Furthermore, by causing the data collection device 10 to acquire the trace data DT2 on the controller 20 that generates the alarm and the trace data DT2 on other controllers 20 , the trace data DT2 can be centrally managed in the data collection device 10 to facilitate data management.

[0109] By incorporating a configuration for requesting acquisition of the trace data DT2 into the data collection device 10 , each controller 20 does not need to perform a process for requesting acquisition of the trace data DT2 , and thus the processing load on the controller 20 can be reduced.

[0110] Furthermore, by making the data collection device 10 not determine the generation of an alarm in each controller 20, but assigning the process of determining the generation of an alarm to each controller 20, the generation of an alarm can be detected more quickly and the tracking data DT2 can be acquired more quickly. Therefore, by quickly acquiring the tracking data DT2, the tracking data DT2 closer to the time point of the alarm generation can be acquired, and thus more useful data can be acquired. Furthermore, when the data collection device 10 is present, the processing load on the data collection device 10 can also be reduced by assigning the above configuration to each controller 20.

[0111] Furthermore, by acquiring the trace data DT2 not only on the controller 20 that generates the alarm but also on all other controllers 20, it is possible to comprehensively acquire the trace data DT2 and acquire data useful for analyzing the status of the controller 20. For example, when a certain controller 20 satisfies a condition, the cause can be analyzed by comprehensively acquiring the trace data DT2 regardless of which controller 20 may cause the satisfaction.

[0112] Furthermore, when each of the plurality of controllers 20 controls at least one motor control device 30, data useful for analyzing the status of the controller 20 can be acquired not only by acquiring the trace data DT2 on each controller 20 but also by acquiring the trace data DT2 on the motor control device 30 controlled by each controller 20. For example, when an alarm is generated in a certain controller 20, the alarm may be caused by any one of the controlled motor control devices 30. In this regard, the cause can be analyzed by acquiring the trace data DT2 on the controlled motor control device 30.

[0113] Furthermore, the trace data DT2 suitable for each controller 20 may be generated by storing the trace condition data DT1 in each controller 20 in advance and generating the trace data DT2 based on the trace condition data DT1 .

[0114] Furthermore, each controller 20 does not record the measurement results of the entire past period in its own storage device 22 but records the measurement results of the most recent period by using a ring buffer, thereby making it possible to suppress memory consumption.

[0115] Furthermore, the time point information is contained in the trace data DT2, and the user can recognize at which time point the trace data DT2 is acquired by referring only to the trace data DT2, and thus the analysis of the user can be effectively supported.

[0116] [5. Modification example]

[0117] The present invention is not limited to the above-described embodiments, and may be appropriately modified without departing from the spirit of the present invention.

[0118] Figure 6 is a functional block diagram of the modified example. Figure 6 As shown, in the modified example described below, the recording module 103 and the providing module 104 are implemented in the data collection device 10. These modules are mainly implemented by the CPU 11.

[0119] (1) For example, in the embodiment, a description is given of the following case: the trace data DT2 on all controllers 20 in the same network as the controller 20 that generates the alarm is acquired. However, the controller 20 that generates the alarm and other controllers 20 that are responsible for processes before and after the process of the controller 20 that generates the alarm are generally related to the cause of the alarm generation.

[0120] For example, it is assumed that an object is processed sequentially in five processes under the control of five controllers 20. In this case, when an alarm is generated in the third controller 20 (the controller 20 in charge of the third process), the closest second controller or fourth controller (the controller 20 in charge of the closest second and fourth processes) is likely to be related to the generation of the alarm, and the first controller or fifth controller (the controller 20 in charge of the first and fifth processes) is unlikely to be related to the cause. Therefore, the tracking data DT2 on all five controllers 20 is not acquired, but only the tracking data DT2 on three controllers (i.e., the second to fourth controllers 20) are acquired.

[0121] In this modified example, the request module 101 requests at least one of the controller 20 responsible for the previous process of the controller 20 that generates the alarm and the controller 20 responsible for the subsequent process of the controller 20 that satisfies the condition, from among the plurality of controllers 20, to acquire the tracking data DT2. Now, a description is given of a case where the request module 101 requests both the controller 20 responsible for the previous process and the controller 20 responsible for the subsequent process to acquire the tracking data DT2. However, the request module 101 may request only one of them to acquire the tracking data DT2.

[0122] For example, the controller ID of the controller 20 responsible for each process is stored in the data storage device 100, and the request module 101 identifies the controller 20 responsible for the previous and subsequent processes based on the controller ID contained in the alarm generation notification. The request module 101 requests the identified controller 20 from the controller 20 that did not generate the alarm to obtain the tracking data DT2, and does not request other controllers 20 to obtain the tracking data DT2.

[0123] The acquisition module 102 acquires the trace data DT2 on the controller 20 that generates the alarm, and acquires at least one of the trace data DT2 on the controller 20 responsible for the previous process and the trace data DT2 on the controller 20 responsible for the subsequent process. As described in the embodiment, each controller 20 sends the trace data DT2 in response to the request from the request module 101. In this modified example, both the controller 20 responsible for the previous process and the controller 20 responsible for the subsequent process are requested to acquire the trace data DT2, and thus the acquisition module 102 acquires the trace data DT2 from both and stores the trace data DT2 in the alarm history database DB2.

[0124] With the modification example (1), when an alarm is generated in a certain controller 20, its cause usually occurs in at least one of the preceding process and the succeeding process. Therefore, data useful for analysis can be acquired by acquiring the trace data DT2 on at least one of them. In addition, as described in the embodiment, compared with the case where all the trace data DT2 are acquired comprehensively, the trace data DT2 is narrowed down to particularly important data acquired, and thus the processing load and communication load on the entire trace data acquisition system 1 can be reduced, and memory consumption is also suppressed.

[0125] (2) In addition, for example, in the tracking data acquisition system 1, when the processing of a certain object is completed, the processing of the next object is started, and a plurality of objects are processed in sequence. In this case, processing information indicating the processing status can be recorded in association with each object to enable tracking after delivery, etc., thereby improving traceability.

[0126] The data storage device 100 in this modified example stores a processing information database DB3. Figure 7 : is a table showing an example of data storage in the processing information database DB3. Figure 7 As shown, the object ID and the processing information are stored in the processing information database DB3. The object ID uniquely identifies the object. The object ID is an example of identification information of the object. The identification information may be a serial number or information called individual identification information.

[0127] The processing information indicates the processing state when processing the object. The object is processed in multiple processes. The processing information can also be considered as information indicating each process. For example, information such as the start time and completion time of the processing of the object or information of the controller 20 and the motor control device 30 that perform the processing can be stored in the processing information. As another example, the processing information may include information such as the serial numbers of the various components and motors of the motor control device 30 and the controller 20 that perform the processing, or may indicate the waveform of a detection signal of a torque sensor, etc. As another example, when the processing state of the object is photographed by a camera, a still image or a moving image picked up by the camera may be included as the processing information.

[0128] In this modified example, a recording module 103 is implemented. The recording module 103 is configured to record processing information of a process performed by each of the plurality of controllers 20 in association with an object ID. For example, each controller 20 generates processing information of the object and sends the processing information to the data collection device 10 whenever processing of the object is completed. When the data collection device 10 receives the processing information from each controller 20, the data collection device 10 stores the processing information in the processing information database DB3 in association with the object ID. The processing information stored in the processing information database DB3 can be displayed on the display 15 or other displays of the data collection device 10. For example, when a user specifies an object ID, processing information associated with the object ID is displayed.

[0129] With the modification example (2), the state in which the object is processed can be identified by recording the processing information in association with the object ID on each controller 20. For example, even after the object is delivered, the condition in which the object is processed can be identified.

[0130] (3) Furthermore, for example, the processing information recorded in the modification example (2) may be used in an application such as learning by a learning device configured to analyze the cause of alarm generation, or may be set as information for analyzing the cause of alarm generation.

[0131] In this modified example, the providing module 104 is implemented. The providing module 104 is configured to provide processing information associated with the object ID of the object processed when the alarm is generated in the controller 20. The object processed when the alarm is generated is the object being processed when the alarm is generated. The following object is the object processed when the alarm is generated: the generation time point of the alarm of the object is included between the start time point and the completion time point indicated by the processing information.

[0132] The processing information can be provided to any entity, and can be provided to a user who uses the data collection device 10 or a user who is allowed to access the processing information. For example, when the user specifies the object ID, the providing module 104 refers to the processing information database DB3, thereby obtaining the processing information associated with the specified object ID, and provides the processing information to the user. This provision means allowing the user to browse or access the processing information. The providing module 104 sends the processing information to the user's terminal. The processing information is displayed on the user's terminal or recorded in the memory of the user's terminal.

[0133] With the modification example (3), it is possible to provide information useful for analyzing the state of the controller 20 by providing processing information when an alarm is generated in the controller 20 .

[0134] (4) For example, the above-mentioned modification examples may be combined.

[0135] Furthermore, for example, a description is given of a case where, in this embodiment, the detection results of the sensor are stored in a ring buffer of the controller 20. However, the detection results may not be stored in the ring buffer but in a storage area having a variable storage size. Furthermore, for example, a description has been given of tracking data on the controller 20, but the tracking data acquisition system 1 may collect arbitrary tracking data on a robot controller or the like.

[0136] In addition, for example, the data collection device 10 as the host device may not be particularly present. In such a case, the controller 20 may be configured to mainly collect the tracking data DT2. For example, the request module 101 may be implemented by the controller 20. In such a case, the request module 101 of the controller 20 that generates the alarm requests to obtain the tracking data DT2 by broadcasting. As another example, the IP addresses of other controllers 20 may be stored in the data storage device 200 of the controller 20, and the request module 101 of the controller 20 that generates the alarm requests to obtain the tracking data DT2 based on the IP addresses of the other controllers.

[0137] Furthermore, for example, the acquisition module 102 may be implemented by the controller 20. In this case, the acquisition module 102 of the controller 20 that generates the alarm acquires the tracking data DT2 sent by other controllers 20 in response to the request of the request module 101 of the controller 20 that generates the alarm. The controller 20 may store the tracking data DT2 by itself, or send the tracking data DT2 to the data collection device 10 at any time. Furthermore, for example, the acquisition module 102 may be implemented by a computer (e.g., a server computer) other than the data collection device 10 and the controller 20, and the tracking data acquisition system 1 only implements the request module 101 and the determination module 201. Furthermore, for example, the determination module 201 may be implemented by the data collection device 10. In this case, it is sufficient for the controller 20 to send its own operation status to the data collection device 10, and the determination module 201 of the data collection device 10 determines whether to generate an alarm based on the operation status received from each controller 20.

[0138] In addition, the above embodiments are given as specific examples, and the present invention disclosed herein is not limited to the actual configuration and data storage examples of the specific examples. Those skilled in the art may make various modifications to the disclosed embodiments, for example, with respect to the shape and number of physical components, data structures, and the execution order of processing. It should be understood that the technical scope of the present invention disclosed herein includes such modifications.

Claims

1. A tracking data acquisition system, comprising: a plurality of industrial machines configured to process objects sequentially; a determination module configured to determine whether one of the plurality of industrial machines satisfies a specific condition; and a request module configured to request the other industrial machines to obtain the tracking data when it is determined that one of the plurality of industrial machines meets the specific condition; The request module is configured to obtain tracking data from the multiple industrial machines by requesting at least one of the closest industrial machines, namely, an industrial machine responsible for a previous process of one of the multiple industrial machines satisfying the specific condition and an industrial machine responsible for a subsequent process of one of the multiple industrial machines satisfying the specific condition. 2 . The tracking data acquisition system according to claim 1 , further comprising an acquisition module configured to acquire the tracking data on one of the plurality of industrial machines that meets the specific condition and the tracking data collected by the other industrial machines.

3. The tracking data acquisition system according to claim 1 or 2, in, The specific condition is the generation of an alarm in one of the plurality of industrial machines, and The request module is configured to request the other industrial machines to obtain tracking data when it is determined that an alarm is generated in one of the plurality of industrial machines.

4. The tracking data acquisition system according to claim 3 further includes an acquisition module, which is configured to acquire the tracking data on one of the multiple industrial machines that meets the specific conditions and the tracking data collected by the other industrial machines, and record the acquired tracking data in a storage device in association with the alarm information of the generated alarm.

5. The tracking data acquisition system according to claim 1 or 2, further comprising a host device configured to manage the plurality of industrial machines, wherein: Each of the plurality of industrial machines includes a transmission module configured to transmit its own tracking data to the host device.

6. The tracking data acquisition system according to claim 5, in, The request module is implemented by the host device, and The request module of the host device is configured to request one of the plurality of industrial machines and each of the other industrial machines that meet the specific condition to obtain tracking data.

7. The tracking data acquisition system according to claim 1 or 2, in, The determination module is implemented by each of the plurality of industrial machines, and The determination module of each of the plurality of industrial machines is configured to determine whether each of the plurality of industrial machines satisfies the specific condition.

8. The tracking data acquisition system according to claim 1 or 2, wherein: The request module is configured to request all other industrial machines from the plurality of industrial machines to obtain tracking data.

9. The tracking data acquisition system according to claim 1 or 2, in, Each of the plurality of industrial machines is configured to control at least one machine, and The request module is configured to request to obtain tracking data on the machine controlled by the other industrial machine.

10. The tracking data acquisition system according to claim 1 or 2, wherein: Each of the plurality of industrial machines comprises: a storage device configured to pre-store tracking condition data; and A generating module is configured to generate tracking data based on the tracking condition data.

11. The tracking data acquisition system according to claim 10, wherein: Each of the plurality of industrial machines includes a generation module configured to: recording the measurement results of the most recent period in the storage device; deleting the measurement results before the most recent period from the storage device; and When a request is received from the request module, trace data is generated based on the measurement results recorded in the storage device. 12 . The tracking data acquisition system according to claim 1 , further comprising a recording module configured to record processing information of a process performed by each of the plurality of industrial machines in association with identification information of the object. 13 . The tracking data acquisition system according to claim 12 , further comprising a providing module configured to provide processing information associated with identification information of the processed object when the industrial machine satisfies the specific condition.

14. The tracking data acquisition system according to claim 1 or 2, wherein: The tracking data includes time point information.

15. A tracking data acquisition method, comprising: determining whether at least one of a plurality of industrial machines configured to sequentially process an object satisfies a specific condition; and When it is determined that at least one of the plurality of industrial machines satisfies the specific condition, requesting the other industrial machines to obtain tracking data; The method of requesting other industrial machines to obtain tracking data when it is determined that at least one of the multiple industrial machines satisfies the specific condition includes: requesting at least one of the industrial machines that is closest to the previous process of one of the multiple industrial machines that satisfies the specific condition and the subsequent process of one of the multiple industrial machines that satisfies the specific condition to obtain tracking data.

16. An information storage medium storing a program for causing a computer to function as a request module, the request module being configured to, when at least one of a plurality of industrial machines configured to sequentially process an object satisfies a specific condition, From the plurality of industrial machines, at least one of an industrial machine responsible for a previous process of one of the plurality of industrial machines satisfying the specific condition and an industrial machine responsible for a subsequent process of one of the plurality of industrial machines satisfying the specific condition is requested to acquire tracking data.

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