Motion prediction program, motion prediction device, and motion prediction method

Abstract

An operation prediction target information acquisition unit (110) of an operation prediction device (100) in which an operation prediction program is installed acquires operation prediction target information relating to an operation to be predicted among operations to be controlled. An operation prediction result information generation unit (120) generates operation prediction result information indicating a result obtained by predicting an operation of a control target on the basis of the operation prediction target information acquired by the operation prediction target information acquisition unit (110). An operation prediction result information output unit (130) outputs the operation prediction result information generated by the operation prediction result information generation unit (120). The motion prediction object information is information including control program information based on one or more commands selected by a user from among a plurality of commands constituting a routine of the control program, and the one or more commands are one or more commands of the control program.

Description

Technical Field

[0001] The present invention relates to a motion prediction program, a motion prediction device and a motion prediction method. Background Art

[0002] In the past, programs were known for operating motion prediction display devices that predict the motion of a controlled object when a control program is executed, and display the predicted motion trajectory, a so-called waveform display, to control the motion of the controlled object. Patent document 1 discloses a program for operating a display device capable of displaying the error between a command position and a predicted position. The command position is the indicated position of a specific part of the controlled object corresponding to the command value when a motion program is executed, and the predicted position is the theoretically predicted position for the specific part of the actual controlled object. In Patent document 1, a user, i.e., the person in charge of control, performs control programming, simulates the execution file generated by compiling a sequencer program, and various pre-set parameters. If the error between the predicted position and the command position obtained through simulation exceeds an allowable range, the sequencer is corrected, and various parameters are corrected.

[0003] Patent Document 1: Japanese Patent Application Laid-Open No. 2011-192017 Summary of the Invention

[0004] The program described in Patent Document 1 suffers from the following problem: Without using an executable file generated by compiling the sequencer, simulations cannot be performed to obtain predicted positions. Therefore, in order for the control manager to verify the error between the predicted and commanded positions for a portion of the controlled object's motion, the program described in Patent Document 1 requires the sequencer to be compiled to a level that defines all of the controlled object's motion. As a result, the program described in Patent Document 1 requires the control manager to laboriously verify these errors, leading to increased control programming adjustments.

[0005] The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to reduce the man-hours required for adjusting a control program.

[0006] In order to achieve the above-mentioned purpose, the action prediction program related to the present invention enables a computer to function as the following parts: an action prediction object information acquisition part, which acquires action prediction object information, which is information containing control program information and related to the action that becomes the prediction object in the action of the control object, and the control program information is based on information greater than or equal to 1 command, and the greater than or equal to 1 command is greater than or equal to 1 command of the control program selected by the user from multiple commands constituting a routine of the control program that controls the action of the control object; an action prediction result information generation part, which generates information representing the result obtained by predicting the action of the control object based on the action prediction object information acquired by the action prediction object information acquisition part, namely, action prediction result information; and an action prediction result information output part, which outputs the action prediction result information generated by the action prediction result information generation part.

[0007] Effects of the Invention

[0008] According to the present invention, a computer obtains motion prediction target information, and generates and outputs motion prediction result information based on the obtained motion prediction target information. The motion prediction target information includes control program information of one or more commands based on a control program selected by a user. As a result, the motion prediction program according to the present invention can reduce the man-hours required to adjust the control program compared to a motion prediction program that does not obtain a motion prediction program including the motion prediction target information and is unable to generate and output motion prediction result information based on the obtained motion prediction target information. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is an overall explanatory diagram of the control program creation support device according to this embodiment.

[0010] Figure 2 This is a diagram showing the functional structure of the control program creation support device.

[0011] Figure 3 This is a block diagram showing the hardware configuration of the control program creation support device.

[0012] Figure 4A This is a diagram showing a display example of a program editing screen.

[0013] Figure 4B This is a diagram showing a display example of the initial setting screen.

[0014] Figure 4C This is a diagram showing a display example of an action prediction result screen.

[0015] Figure 5This is a flowchart of the action prediction result screen display process.

[0016] Figure 6 This is a flowchart of the control program analysis process.

[0017] Figure 7 This is a flowchart of motion prediction calculation processing.

[0018] Figure 8 This is a flowchart of the prediction waveform update process. DETAILED DESCRIPTION

[0019] Hereinafter, a motion prediction program, a motion prediction device, and a motion prediction method according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

[0020] (Regarding the control program creation assisting device 10)

[0021] like Figure 1 As shown, the control program creation support device 10 according to the embodiment of the present invention is a control program creation support device for a programmable logic controller (PLC)

[0022] Controller) used in the FA (Factory Automation) control device 20

[0023] A device that assists in the creation of a control program. A control program is, for example, a program that controls the motion of a control target, such as the drive shaft 22 of the FA equipment 21. The control program creation assisting device 10 also functions as a motion prediction device 100 (hereinafter referred to as "motion prediction device 100") that predicts the motion of the control target when executing a control program created by the user. Furthermore, the control program creation assisting device 10 can exchange information with an external device 40 via the Internet 30, an example of a communication network.

[0024] Specifically, the control program creation support device 10 is a computer device installed with a program for an engineering setting tool. The program for an engineering setting tool is a program for realizing the function as an engineering setting tool, that is, a program for realizing the function as a setting tool used by engineers, that is, users. Figure 2 As shown, the control program creation support device 10 includes a program editing unit 11 for editing the program, and the program editing unit 11 includes a display Figure 4AThe program editing screen 12 is a program editing screen display unit 13. In addition, the control program creation support device 10 includes an initial setting unit 14 for setting the initial values of variables included in the program. The initial setting unit 14 includes a display unit. Figure 4B The screen for setting the initial values of the variables shown is the initial setting screen display unit 16 of the initial setting screen 15 .

[0025] (About the Motion Prediction Device 100)

[0026] The motion prediction device 100 also includes a motion prediction target information acquisition unit 110 that acquires motion prediction target information, which is information related to the motion being predicted from the motion of the controlled object; a motion prediction result information generation unit 120 that generates motion prediction result information obtained by predicting the motion of the controlled object; and a motion prediction result information output unit 130 that outputs the motion prediction result information. The motion prediction target information acquisition unit 110 includes a control program information acquisition unit 111 that acquires control program information (described later); and an initial setting information acquisition unit 112 that acquires initial setting information (described later). The motion prediction result information generation unit 120 includes a control program analysis unit 121 that analyzes the control program; a motion prediction calculation unit 122 that calculates a predicted value for the motion trajectory of the controlled object; and a predicted waveform information generation unit 123 that generates predicted waveform information (described later). The motion prediction result information output unit 130 includes a motion prediction result screen display unit 131, which displays the motion prediction result screen 200 (described later); a predicted waveform information display unit 132, which displays the predicted waveform information (described later); and a variable display unit 133, which displays the variables included in the control program and their values. Furthermore, the motion prediction result information output unit 130 includes a file format conversion unit 134, which converts the file format of the predicted waveform information (described later); and an export unit 135, which is an example of an external output unit for motion prediction result information, which outputs the motion prediction result information externally.

[0027] (Regarding the Hardware Structure of the Control Program Creation Assistance Device 10 and the Motion Prediction Device 100)

[0028] like Figure 3 As shown, the control program creation support device 10 includes a control unit 51 that executes processing according to a control program 59. The control unit 51 includes a CPU (Central Processing Unit). The control unit 51 operates according to the control program 59. Figure 2The program editing unit 11, initial setting unit 14, action prediction object information acquisition unit 110, control program information acquisition unit 111, initial setting information acquisition unit 112, action prediction result information generation unit 120, control program analysis unit 121, action prediction calculation unit 122, prediction waveform information generation unit 123, and file format conversion unit 134 shown in the figure function.

[0029] Return to Figure 3 The control program creation support device 10 includes a main storage unit 52 for loading a control program 59 and used as a work area for a control unit 51. The main storage unit 52 includes a RAM (Random Access Memory).

[0030] The control program creation support device 10 also includes an external storage unit 53 that pre-stores the control program 59. The external storage unit 53 supplies the data stored in the program to the control unit 51 in accordance with instructions from the control unit 51, and stores the data supplied from the control unit 51. The external storage unit 53 includes non-volatile memory such as a flash memory, an HDD (Hard Disk Drive), or an SSD (Solid State Drive).

[0031] The control program creation support device 10 also includes an operation unit 54 that is operated by a user. Information input via the operation unit 54 is supplied to the control unit 51. The operation unit 54 includes information input means such as a keyboard, a mouse, and a touch panel.

[0032] In addition, the control program creation support device 10 includes a display unit 55 for displaying information inputted via the operation unit 54 and information outputted from the control unit 51. The display unit 55 includes a display device such as an LCD (Liquid Crystal Display) or an organic EL (Electro-Luminescence) display. Figure 2 The program editing screen display unit 13 , the initial setting screen display unit 16 , the motion prediction result information output unit 130 , the motion prediction result screen display unit 131 , the predicted waveform information display unit 132 , and the variable display unit 133 shown in the figure function.

[0033] Return to Figure 3 The control program creation support device 10 has a transceiver 56 for sending and receiving information. The transceiver 56 has information communication components such as a communication network terminal device and a wireless communication device connected to the network. The transceiver 56 is used as Figure 2 The derivation section 135 shown is active.

[0034] Return to Figure 3In the control program creation support device 10 , the main storage unit 52 , the external storage unit 53 , the operation unit 54 , the display unit 55 , and the transceiver unit 56 are all connected to the control unit 51 via the internal bus 50 .

[0035] The control unit 51 uses the main storage unit 52, the external storage unit 53, the operation unit 54, the display unit 55, and the transceiver unit 56 as resources to control the program creation support device 10 to realize Figure 2 The functions of the above-mentioned units 11, 13, 14, 16, 110 to 112, 120 to 123, and 130 to 135 are shown. For example, the control program creation support device 10 executes the program editing step performed by the program editing unit 11, the program editing screen display step performed by the program editing screen display unit 13, the initial setting step performed by the initial setting unit 14, and the initial setting screen display step performed by the initial setting screen display unit 16.

[0036] Furthermore, for example, the motion prediction device 100 executes a motion prediction target information acquisition step performed by the motion prediction target information acquisition unit 110, a control program information acquisition step performed by the control program information acquisition unit 111, and an initial setting information acquisition step performed by the initial setting information acquisition unit 112. Furthermore, for example, the motion prediction device 100 executes a motion prediction result information generation step performed by the motion prediction result information generation unit 120, a control program analysis step performed by the control program analysis unit 121, a motion prediction calculation step performed by the motion prediction calculation unit 122, and a predicted waveform information generation step performed by the predicted waveform information generation unit 123. Furthermore, for example, the motion prediction device 100 executes a motion prediction result information output step performed by the motion prediction result information output unit 130, a motion prediction result screen display step performed by the motion prediction result screen display unit 131, a predicted waveform information display step performed by the predicted waveform information display unit 132, and a variable display step performed by the variable display unit 133. Furthermore, the motion prediction apparatus 100 executes a file format conversion step performed by the file format conversion unit 134 and a derivation step as an example of a step of externally outputting motion prediction result information performed by the derivation unit 135 .

[0037] (Details of the Functional Configuration of the Motion Prediction Device 100)

[0038] Return to Figure 2 The action prediction object information acquisition unit 110 acquires the action prediction object information, which includes the control program information described later acquired by the control program information acquisition unit 111, the initial setting information described later acquired by the initial setting information acquisition unit 112, the total prediction time information described later, and the prediction interval information described later.

[0039] The control program information acquisition unit 111 acquires control program information, which is information of one or more commands based on the control program selected by the user, when one of the multiple commands constituting the routine of the control program is set as the minimum unit that can be selected by the user. The control program information acquisition unit 111 acquires control program information, which indicates the one or more commands selected by the user from the multiple commands of the control program edited on the program editing unit 11. Specifically, the control program information acquisition unit 111 acquires control program information by selecting the command displayed on the program editing screen display unit 13. Figure 4A The control program displayed on the program editing screen 12 shown in the figure extracts information representing a portion of the range selected by the user using the operation unit 54 from the control program as control program information, thereby acquiring the control program information selected by the user. In this case, the control program information acquisition unit 111 may also start acquiring control program information when, for example, the user presses the motion prediction button 17 provided on the lower right side of the program editing screen 12 through input using the operation unit 54.

[0040] Here, the format for describing the "control program" includes not only the format of character data but also the format of graphic data. Therefore, "one of the multiple commands constituting the routine of the control program" includes not only commands described in character data but also commands described in graphic data. Therefore, with respect to "one of the multiple commands constituting the routine of the control program," for example, if it is an ST language, it can be a statement in the source code, and if it is a ladder diagram language, it can be a rung in the ladder diagram. Furthermore, with respect to "the portion of the range selected by the user" in this embodiment, for example, if it is an ST language, it can be one or more statements in the source code, and if it is a ladder diagram language, it can be one or more rungs in the ladder diagram. Below, in this embodiment, the "control program" is the source code described in the ST language, and the "portion of the range selected by the user" is a statement or more than one command in the source code.

[0041] The initial setting information acquisition unit 112 acquires the initial setting information, which is information indicating the initial values of the variables included in the control program set by the user. The initial setting information acquisition unit 112 acquires the initial setting information generated by the user setting in the initial setting unit 14. Specifically, the initial setting information acquisition unit 112 acquires the initial setting information displayed by the initial setting screen display unit 16. Figure 4B The initial setting information acquisition unit 112 acquires the initial value of the variable displayed on the initial setting screen 15 as the initial setting information, thereby acquiring the initial setting information set by the user. Figure 4BThe initial setting information shown includes information that the initial value of the variable "lVelocity" indicating speed is "1.00". In addition, the initial setting information acquisition unit 112 acquires the total prediction time information indicating the total prediction time for calculating the prediction value described later, and the prediction interval information indicating the time interval for calculating the prediction value. Specifically, similar to the initial setting information, the initial setting information acquisition unit 112 acquires the information indicating the total prediction time and the prediction interval displayed on the initial setting screen 15 as the total prediction time information and the prediction interval information, thereby acquiring the total prediction time information and the prediction interval information set by the user. For example, Figure 4B As shown, the initial setting information acquisition unit 112 acquires the total prediction time information indicating that the total prediction time is “00:15.000” and the prediction interval information indicating that the prediction interval is “0.050”.

[0042] The motion prediction result information generating unit 120 generates motion prediction result information including predicted waveform information (described later) and variable list information for each prediction timing (described later), based on the motion prediction target information acquired by the motion prediction target information acquiring unit 110 .

[0043] The control program parser 121 parses the action prediction target information. First, the control program parser 121 performs a syntax analysis on the control program's statements, which are greater than or equal to one command, based on the control program's programming language, i.e., the ST language, as indicated by the control program information. The parser identifies and stores program components such as variables and function blocks (FBs) contained in the statements. For example, the parser 121 temporarily stores variable information, which indicates the variables identified through the syntax analysis, and function blocks, i.e., function blocks, in the main storage unit 52 or the external storage unit 53. Furthermore, if the parser determines that any of the statements, which are greater than or equal to one command, contains an error, the parser 121 disregards the statement containing the error and stores information indicating the identified program components, i.e., variable information and function blocks, for statements without errors. Furthermore, the parser 121 completely disregards, during the parser analysis, any portion of the control program that is not selected by the user, other than the statement of greater than or equal to one command selected by the user, which was not selected by the user. Therefore, for example, in a part of the control program that is not selected by the user or in a program different from the control program, even if the value of a variable contained in a statement greater than or equal to one command selected by the user changes, and there are commands for performing different actions in the motion FB contained in the statement, the control program parsing unit 121 does not take such a phenomenon into consideration at all and only performs grammatical analysis on the statement.

[0044] Furthermore, the control program analysis unit 121 uses the variable information, total prediction time information, and prediction interval information to generate variable list information, which represents a list of all variables and their values, identified in units of prediction intervals, from the start of the prediction to the total prediction time. For example, the control program analysis unit 121 calculates the elapsed time from the start of the prediction by multiplying the prediction interval indicated by the prediction interval information by the number of times the variable list information has been generated, and generates variable list information for the next prediction timing that has elapsed by the calculated elapsed time since the start of the prediction. The control program analysis unit 121 then repeats the above process until the calculated elapsed time becomes greater than or equal to the total prediction time indicated by the total prediction time information, thereby generating variable list information for each prediction timing. Furthermore, at this point, the initial values of each variable indicated in the initial setting information may be pre-registered as temporary values of each variable indicated in the variable list information for each prediction timing.

[0045] The motion prediction calculation unit 122 calculates the predicted value of the motion trajectory of the controlled object based on the analysis results of the control program analysis unit 121. After obtaining the motion FB information and variable list information stored by the control program analysis unit 121, the motion prediction calculation unit 122 repeats, for each prediction interval and for each number of motion FBs, updating the variable list information based on changes in variable values before the execution of the motion FB, executing the motion FB, obtaining the predicted value of the motion trajectory of each controlled object after the execution of the motion FB, and updating the variable list information based on changes in variable values.

[0046] Specifically, first, the motion prediction calculation unit 122 calculates the changes in the values of each variable before the execution of the motion FB based on the analysis results of the control program analysis unit 121, and updates the values of each variable shown in the variable overview information of the current prediction timing. Next, the motion prediction calculation unit 122 uses the values of each variable shown in the variable overview information of the current prediction timing to execute the motion FB and obtain the current values of all variables related to the motion trajectory of each controlled object. As a result, the motion prediction calculation unit 122 can calculate the predicted values of the motion trajectory of each controlled object at the current prediction timing. Next, the motion prediction calculation unit 122 updates the values of each variable shown in the variable overview information of the current prediction timing based on the changes in the values of the variables after the execution of the motion FB.

[0047] Furthermore, the motion prediction calculation unit 122 repeats the execution of the above-described motion FBs and the processing preceding and following them for the total number of motion FBs indicated by the motion FB information. Thereafter, the motion prediction calculation unit 122 updates the values of each variable indicated by the variable list information at the next prediction timing to the values of each variable indicated by the variable list information at the current prediction timing. This repetitive processing is repeated for each prediction timing until the calculation of the predicted values for each controlled object and the updating of the values of each variable indicated by the variable list information are completed. As a result, the motion prediction calculation unit 122 is able to calculate the predicted values for the motion trajectories of all controlled objects at all prediction timings and update the values of each variable indicated by the variable list information at all prediction timings.

[0048] The predicted waveform information generating unit 123 generates predicted waveform information, which is information indicating a predicted waveform of the motion trajectory of the controlled object based on the predicted value calculated by the motion prediction calculation unit 122. Based on the predicted value of the motion trajectory of each controlled object at all predicted timings calculated by the motion prediction calculation unit 122, the predicted waveform information generating unit 123 generates predicted waveform information for each controlled object. This predicted waveform information indicates the value plotted in the predicted waveform graph displayed in the predicted waveform display field 208, which will be described later.

[0049] The motion prediction result information output unit 130 outputs information including the predicted waveform information and the variable list information at each predicted timing as the motion prediction result information generated by the motion prediction result information generation unit 120 .

[0050] The action prediction result screen display unit 131 is Figure 4C The action prediction result screen 200 showing the action prediction result information is displayed. Figure 4CAs shown, the motion prediction result screen 200 includes a variable list display bar 201 provided at the top, which lists variables and their values, and a predicted waveform update button 202 provided on the left side below the variable list display bar 201, which instructs the start of updating the predicted waveform information. Furthermore, the motion prediction result screen 200 includes a speed selection check box 203 provided to the right of the predicted waveform update button 202, which indicates that display of the predicted waveform for speed has been selected; an acceleration selection check box 204 provided to the right of the speed selection check box 203, which indicates that display of the predicted waveform for acceleration has been selected; and a jerk selection check box 205 provided to the right of the acceleration selection check box 204, which indicates that display of the predicted waveform for jerk (jerk, acceleration) has been selected. Furthermore, the motion prediction result screen 200 includes a control object list display field 206, located below the predicted waveform update button 202, which displays a list of all control objects, and a predicted waveform display field 208, which displays the predicted waveform of a control object selected by a control object checkbox 207. The control object checkbox 207 is provided corresponding to each control object displayed in the control object list display field 206. Furthermore, the motion prediction result screen 200 includes an export button 209, located below the predicted waveform display field 208, which instructs external output of the motion prediction result information, and an end button 210, located to the right of the export button 209, which instructs the end of the display of the motion prediction result screen 200.

[0051] Return to Figure 2 The predicted waveform information display unit 132 displays the predicted waveform information included in the motion prediction result information. The predicted waveform information display unit 132 displays an image of a predicted waveform graph drawn using the values indicated by the predicted waveform information. Figure 4C The predicted waveform display field 208 of the motion prediction result screen 200 is shown.

[0052] Return to Figure 2 The variable display unit 133 displays the variables and their values contained in the statements of one or more commands of the control program obtained by the syntax analysis of the control program analyzing unit 121. The variable display unit 133 displays an image showing the value of each variable at each prediction timing generated using the variable list information and initial setting information at each prediction timing included in the action prediction result information. Figure 4C The variable list display field 201 of the motion prediction result screen 200 is shown.

[0053] Furthermore, when the value of the variable being displayed is changed by the user's input using the operation unit 54, the variable display unit 133 updates the displayed value of the variable from the value before the change to the value after the change. Figure 4CWhen the initial value of the speed variable "lVelocity" displayed in the variable list display column 201 is changed from "1.00" to "0.50", the variable display unit 133 updates the display of the initial value of the speed variable "lVelocity" in the variable list display column 201 from the value "1.00" before the change to the value "0.50" after the change.

[0054] In addition, when the variable display unit 133 updates the display of the variable value, the action prediction calculation unit 122 obtains the changed value from the variable display unit 133 and recalculates the prediction value based on the analysis result of the control program analysis unit 121 and the changed value. Figure 4C After the initial value of the velocity variable "lVelocity" in the variable list display field 201 is updated to "0.50," if the user presses the predicted waveform update button 202 via the operation unit 54, the motion prediction calculation unit 122 obtains variable list information in which the initial value of the velocity variable "lVelocity" has been updated to "0.50." Furthermore, the motion prediction calculation unit 122 recalculates the predicted values of the motion trajectories of all controlled objects at all predicted timings and re-updates the values of each variable shown in the variable list information at all predicted timings.

[0055] Furthermore, when the motion prediction calculation unit 122 recalculates the predicted values, the predicted waveform information generation unit 123 regenerates predicted waveform information based on the recalculated predicted values. Furthermore, when the predicted waveform information generation unit 123 regenerates predicted waveform information, the predicted waveform information display unit 132 updates the display of the predicted waveform information from the information before regeneration to the information after regeneration. For example, the predicted waveform information generation unit 123 regenerates predicted waveform information for each controlled object based on the predicted values of the motion trajectories of each controlled object at all predicted timings recalculated by the motion prediction calculation unit 122. The predicted waveform information display unit 132 updates the display of the predicted waveform display field 208 to an image of a graphical representation of the predicted waveform drawn using the values indicated by the regenerated predicted waveform information. Furthermore, the variable display unit 133 updates the display of the values of each variable at each predicted timing in the variable list display field 201 from the pre-updated values of each variable indicated in the variable list information at each predicted timing to the updated values.

[0056] The file format conversion unit 134 converts the predicted waveform information generated by the predicted waveform information generation unit 123 into a file format that can be displayed by the device 40 external to the control program creation support device 10 .

[0057] The export unit 135 outputs the motion prediction result information including the predicted waveform information after the file format conversion unit 134 has converted the file format to the external device 40. Specifically, on the motion prediction result screen 200, when images are displayed in the variable list display column 201, the control object list display column 206, and the predicted waveform display column 208, and the user presses the export button 209 via the operation unit 54, the export unit 135 outputs the motion prediction result information including the predicted waveform information to the predetermined external device 40.

[0058] (Regarding the screen display process for the motion prediction result)

[0059] Next, the operation of the motion prediction device 100 acquiring motion prediction target information and displaying the motion prediction result information generated by the analysis on the motion prediction result screen 200 will be described using a flowchart. When the user selects a statement with one or more commands using the operation unit 54 while the control program being edited is displayed on the program editing screen 12, and presses the motion prediction button 17, the motion prediction device 100 starts executing the control program. Figure 5 The motion prediction result screen display process shown in the figure. First, the control program information acquisition unit 111 acquires the control program information selected by the user from the control program displayed on the program editing screen 12 (step S101), and the initial setting information acquisition unit 112 acquires the initial setting information, total prediction time information, and prediction interval information set by the user and displayed on the initial setting screen 15 (step S102).

[0060] After acquiring each piece of information, the control program analysis unit 121 performs the control program analysis process (step S103), described below, and the motion prediction calculation unit 122 performs the motion prediction calculation process (step S104). After the motion prediction calculation process is performed, the predicted waveform information generation unit 123 generates predicted waveform information representing the predicted waveform of the motion trajectory of the controlled object based on the predicted value calculated by the motion prediction calculation unit 122 (step S105). The motion prediction result screen display unit 131 displays the motion prediction result screen 200 (step S106). After the screen is displayed, the predicted waveform information display unit 132 displays an image of the predicted waveform obtained based on the predicted waveform information in the predicted waveform display field 208 (step S107). The variable display unit 133 displays an image representing the value of each variable at each predicted timing based on the variable list information and initial setting information for each predicted timing in the variable list display field 201 (step S108), and the process ends.

[0061] (Regarding control program analysis processing)

[0062] Next, the operation of analyzing the control program by the motion prediction device 100 will be described using a flowchart. When step S103 of the motion prediction result screen display process is executed, the motion prediction device 100 starts executing Figure 6 First, the control program analyzer 121 performs syntax analysis on the statements of one or more instructions of the control program indicated by the control program information included in the motion prediction target information (step S201), and obtains information on program components such as variable information and motion FB information (step S202).

[0063] After acquiring each information, the control program analyzer 121 calculates the elapsed time from the start of prediction by multiplying the prediction interval indicated by the prediction interval information by the number of times the variable list information has been generated. This calculation determines the next predicted timing that has elapsed since the start of prediction (step S203). After determining the predicted timing, the control program analyzer 121 generates variable list information that lists all variables indicated by the variable information and their values (step S204). It then determines whether the calculated elapsed time is greater than or equal to the total predicted time indicated by the total predicted time information (step S205). If the elapsed time is not greater than or equal to the total predicted time (step S205: N), the control program analyzer 121 returns to step S203 and repeats steps S203-S205 until the calculated elapsed time is greater than or equal to the total predicted time. If the elapsed time is greater than or equal to the total predicted time (step S205: Y), the control program analyzer 121 terminates the control program analysis process and returns to step S103 of the motion prediction result screen display process.

[0064] (Regarding Motion Prediction Calculation Processing)

[0065] Next, the operation of the motion prediction device 100 to calculate the predicted value of the motion trajectory of the control object will be described using a flowchart. When step S104 of the motion prediction result screen display process is executed, the motion prediction device 100 starts to execute Figure 7 First, the motion prediction calculation unit 122 obtains the motion FB information and the variable list information of each prediction timing stored by the control program analysis unit 121 (step S301), selects the next prediction timing (step S302), and selects the next motion FB (step S303).

[0066] After selecting the motion FB, the motion prediction calculation unit 122 calculates the change in the value of each variable before executing the motion FB based on the analysis results of the control program analysis unit 121, and updates the value of each variable shown in the variable overview information of the current prediction timing (step S304). After updating the value, the motion prediction calculation unit 122 executes the motion FB by using the value of each variable shown in the variable overview information of the current prediction timing (step S305), obtains the current value of all variables related to the motion trajectory of each control object, and thus calculates the predicted value of the motion trajectory of each control object at the current prediction timing (step S306). After calculating the predicted value, the motion prediction calculation unit 122 updates the value of each variable shown in the variable overview information of the current prediction timing based on the change in the value of the variable after executing the motion FB (step S307).

[0067] After updating the values, the motion prediction calculation unit 122 determines whether all motion FBs indicated by the motion FB information have been selected (step S308). If all motion FBs have not been selected (step S308; N), the motion prediction calculation unit 122 returns to step S303 and repeats the processes of steps S303 to S308 until all motion FBs have been selected. On the other hand, if all motion FBs have been selected (step S308; Y), the motion prediction calculation unit 122 determines whether all prediction timings have been selected (step S309). If all prediction timings have not been selected (step S309; N), the motion prediction calculation unit 122 updates the values of each variable indicated by the variable list information for the next prediction timing to the values of each variable indicated by the variable list information for the current prediction timing (step S310), returns to step S302, and repeats the processes of steps S302 to S310 until all prediction timings have been selected. Then, when all prediction timings are selected (step S309 ; Y), the motion prediction calculation unit 122 ends the motion prediction calculation process and returns to step S104 of the motion prediction result screen display process.

[0068] (Regarding the predicted waveform update process)

[0069] Next, the operation of the motion prediction device 100 to update the predicted waveform information will be described using a flowchart. The motion prediction device 100 starts executing the motion prediction result screen display process after executing the motion prediction result screen display process. Figure 8The predicted waveform update process shown in FIG. First, the variable display unit 133 determines whether the value of the variable displayed in the variable list display field 201 of the motion prediction result screen 200 has been changed due to input by the user using the operation unit 54 (step S401). If the value of the displayed variable has not been changed (step S401: N), the variable display unit 133 repeats the process of step S401. On the other hand, if the value of the displayed variable has been changed (step S401: Y), the variable display unit 133 updates the displayed variable value from the value before the change to the value after the change (step S402). The motion prediction calculation unit 122 then determines whether the predicted waveform update button 202 has been pressed due to input by the user using the operation unit 54 (step S403).

[0070] If the predicted waveform update button 202 is not pressed (step S403: N), the motion prediction calculation unit 122 returns to step S401 and repeats steps S401-403 until the user changes the value and presses the predicted waveform update button 202. On the other hand, if the predicted waveform update button 202 is pressed (step S403: Y), the motion prediction calculation unit 122 obtains the changed value from the variable display unit 133 (step S404) and re-executes the motion prediction calculation process using the analysis results of the control program analysis process performed by the control program analysis unit 121 and the changed value (step S405). After executing the motion prediction calculation process, the predicted waveform information generation unit 123 re-generates predicted waveform information representing the predicted waveform of the motion trajectory of the controlled object based on the predicted value recalculated by the motion prediction calculation unit 122 (step S406). After the predicted waveform information is regenerated, the predicted waveform information display unit 132 updates the display of the predicted waveform display column 208 to an image of a graphic of the predicted waveform obtained based on the regenerated predicted waveform information (step S407), and the variable display unit 133 updates the display of the values of each variable at each predicted timing in the variable overview display column 201 from the pre-updated value of each variable shown in the variable overview information at each predicted timing to the updated value (step S408), and the processing ends.

[0071] Furthermore, regarding the export process in which the motion prediction device 100 outputs the motion prediction result information to the external device 40, the motion prediction device 100 begins operation when the user presses the export button 209 via the operation unit 54 while images are displayed in the display fields 201, 206, and 208 of the motion prediction result screen 200. Subsequently, the file format conversion unit 134 converts the predicted waveform information into a file format displayable by the external device 40, and the export unit 135 outputs the motion prediction result information, including the predicted waveform information after the file format conversion, to a predetermined external device 40. Therefore, to avoid redundant explanation, the illustration of a flowchart and detailed description are omitted.

[0072] As described above, according to the motion prediction device 100 of this embodiment, the motion prediction target information acquisition unit 110 acquires motion prediction target information related to the motion being predicted, among the motions of the control object. Furthermore, the motion prediction result information generation unit 120 generates motion prediction result information representing the result of predicting the motion of the control object based on the motion prediction target information acquired by the motion prediction target information acquisition unit 110, and the motion prediction result information output unit 130 outputs the motion prediction result information generated by the motion prediction result information generation unit 120. Here, the motion prediction target information includes control program information based on one or more commands, each of which is one or more commands of the control program selected by the user from among multiple commands constituting a routine of the control program.

[0073] Thus, the motion prediction device 100 according to this embodiment acquires motion prediction target information, which includes control program information for one or more commands based on a control program selected by a user, and generates and outputs motion prediction result information based on the acquired motion prediction target information. As a result, the motion prediction device 100 according to this embodiment can reduce the man-hours required to adjust the control program, compared to motion prediction programs that do not acquire motion prediction target information, which includes control program information for one or more commands based on a control program selected by a user, or that are unable to generate and output motion prediction result information based on the acquired motion prediction target information.

[0074] In particular, according to the motion prediction device 100 according to the present embodiment, the motion prediction target information includes initial setting information indicating initial values of variables included in the control program set by the user.

[0075] Thus, the motion prediction device 100 according to this embodiment obtains motion prediction target information, analyzes the motion prediction target information, and generates and outputs motion prediction result information. The motion prediction target information includes control program information for one or more commands based on a control program selected by the user, and initial setting information indicating the initial values of variables included in the control program set by the user. As a result, the motion prediction device 100 according to this embodiment can predict the motion of the control target using the initial values of the variables set by the user for the selected portion of the control program.

[0076] Furthermore, according to the motion prediction device 100 of this embodiment, the motion prediction target information acquisition unit 110 includes a control program information acquisition unit 111 that acquires control program information indicating one or more commands selected by the user from among a plurality of commands of the control program being edited on the program editing screen 12 displayed on the program editing screen display unit 13 of the program editing unit 11 included in the control program creation support device 10. Furthermore, the initial setting information acquisition unit 112 of the motion prediction target information acquisition unit 110 acquires initial setting information generated by the user setting on the initial setting screen 15 displayed on the initial setting screen display unit 16 of the initial setting unit 14 included in the control program creation support device 10.

[0077] Thus, in the motion prediction device 100 according to this embodiment, if a user sets initial values for variables included in a control program in the control program creation support device 10 and selects one or more commands of the control program, the control program creation support device 10 can obtain motion prediction target information for the control program being edited, analyze the motion prediction target information, and generate and output motion prediction result information. As a result, even if the creation of a control program is not yet complete, the motion prediction device 100 according to this embodiment can obtain motion prediction target information for the control program, analyze the motion prediction target information, and generate and output motion prediction result information.

[0078] Furthermore, according to the motion prediction device 100 of this embodiment, the control program analysis unit 121 of the motion prediction result information generation unit 120 analyzes the motion prediction target information. Furthermore, within the motion prediction result information generation unit 120, the motion prediction calculation unit 122 calculates a predicted value for the motion trajectory of the controlled object based on the analysis results of the control program analysis unit 121, and the predicted waveform information generation unit 123 generates predicted waveform information representing a predicted waveform for the motion trajectory of the controlled object based on the predicted value calculated by the motion prediction calculation unit 122.

[0079] Thus, the motion prediction device 100 according to the present embodiment can generate predicted waveform information based on the predicted value of the motion trajectory of the control target by analyzing the motion prediction target information.

[0080] In particular, according to the action prediction device 100 involved in this embodiment, when there is an error in more than or equal to one command selected by the user, the control program analysis unit 121 does not analyze the commands with the error among the more than or equal to one command, but analyzes the remaining commands without the error.

[0081] Thus, the motion prediction device 100 according to the present embodiment can analyze one or more commands of a control program selected by a user regardless of whether the one or more commands have errors.

[0082] In the device described in Patent Document 1, the user, or the person in charge of control, must repeatedly correct and recompile the sequence program during simulation until no compilation errors are found. Specifically, the device described in Patent Document 1 presents a problem: simulation cannot be performed to calculate and display the predicted position of the controlled object until the sequence program is corrected and compiled. Consequently, in order to confirm the corrections made to the sequence program or various parameters, the user must compile the sequence program and then simulate using the compiled executable file and the corrected parameters to display the predicted position. This tedious process increases the time required to adjust the control programming.

[0083] In contrast, in the motion prediction device 100 according to this embodiment, when predicting the motion of a controlled object, the user simply selects one or more commands from among multiple commands in a control program currently being edited on the program editing screen 12 and then executes a prediction start operation. Therefore, the motion prediction device 100 according to this embodiment can predict the motion of the controlled object and generate and output motion prediction result information even without compiling. Regardless of whether the one or more commands currently being edited selected by the user contain errors, the motion prediction device 100 can analyze the errors and predict the motion of the controlled object based on the analysis results. As a result, the motion prediction device 100 according to this embodiment can predict the motion of the controlled object and generate and output motion prediction result information even without correcting the control program until the errors are resolved. This reduces the effort required to confirm the corrections and the control programming adjustment process compared to the device described in Patent Document 1.

[0084] Furthermore, according to the motion prediction device 100 of the present embodiment, in the motion prediction result information output unit 130, the predicted waveform information display unit 132 displays an image of a graphical representation of a predicted waveform obtained based on the predicted waveform information included in the motion prediction result information in the predicted waveform display field 208 of the motion prediction result screen 200. Furthermore, the variable display unit 133 displays an image representing the value of each variable at each predicted timing obtained based on the variable and its value, which are included in one or more commands of the control program analyzed by the control program analysis unit, in the variable list display field 201 of the motion prediction result screen 200.

[0085] Thus, the motion prediction device 100 according to this embodiment can display predicted waveform information along with variables and their values as a means of outputting motion prediction result information. Furthermore, the motion prediction device 100 according to this embodiment can simultaneously display predicted waveform information and variables and their values on the motion prediction result screen 200, allowing the user to confirm the predicted waveform information while simultaneously checking the variables and their values.

[0086] In particular, according to the motion prediction device 100 of this embodiment, when the value of a variable displayed in the variable list display field 201 is changed due to user input, the variable display unit 133 updates the displayed variable value from the value before the change to the value after the change. In this case, the motion prediction calculation unit 122 recalculates the predicted value based on the analysis results of the control program analysis unit 121 and the changed value of the variable, and the predicted waveform information generation unit 123 regenerates predicted waveform information based on the predicted value recalculated by the motion prediction calculation unit 122. Furthermore, in this case, the predicted waveform information display unit 132 updates the displayed predicted waveform information from the information before regeneration to the information after regeneration.

[0087] Thus, in the motion prediction device 100 according to this embodiment, the user can confirm how the predicted waveform information changes by changing the value of the variable displayed on the motion prediction result screen 200. In other words, in the motion prediction device 100 according to this embodiment, the user can confirm changes in the predicted waveform of the motion trajectory of the controlled object simply by changing the value of the variable. As a result, the motion prediction device 100 according to this embodiment facilitates confirmation of changes in the predicted waveform information caused by changes in the variable value, compared to motion prediction devices that do not update the display of the predicted waveform information when the user changes the variable value, thereby reducing the time required to adjust the control program.

[0088] Furthermore, according to the motion prediction device 100 of this embodiment, in the motion prediction result information output unit 130, the file format conversion unit 134 converts the predicted waveform information generated by the predicted waveform information generation unit 123 into a file format displayable by a device 40 external to the control program creation support device 10. Furthermore, in the motion prediction result information output unit 130, the export unit 135 outputs the motion prediction result information, including the predicted waveform information after the file format conversion by the file format conversion unit 134, to the external device 40.

[0089] Thus, the motion prediction device 100 according to this embodiment can output motion prediction result information, including predicted waveform information, to the outside world as a method for outputting motion prediction result information. Furthermore, the motion prediction device 100 according to this embodiment can display the predicted waveform information to a user of the external device 40, allowing the user to confirm the predicted waveform of the motion trajectory of the controlled object.

[0090] (Change Example)

[0091] Furthermore, as described in the above embodiment, the control program information preferably represents one or more instructions of the control program selected by the user. However, the information is not limited to this, as long as it is based on one or more instructions of the control program selected by the user. For example, the control program information may be a text file of the source code of a test program automatically generated using one or more instructions of the control program, or an executable file generated by compiling the test program.

[0092] Furthermore, in the above-described embodiment, the motion prediction device 100 is a function included in the control program creation support device 10 and is integrally formed with the control program creation support device 10. However, this is not limiting; the motion prediction device 100 and the control program creation support device 10 may also be separate entities. In this case, the motion prediction target information acquisition unit 110, the control program information acquisition unit 111, and the initial setting information acquisition unit 112 acquire various pieces of information from the separate control program creation support device 10. Furthermore, in this case, the user of the motion prediction device 100 needs to be able to select one or more commands from the control program being edited by the separate control program creation support device 10 and set the initial values of various variables therein through the control program creation support device 10.

[0093] Furthermore, as described in the above embodiment, the motion prediction target information preferably includes initial setting information indicating the initial values of variables included in the control program set by the user. However, the initial setting information may not be included. In this case, the motion prediction device 100 may, for example, automatically generate initial values for the variables based on the control program information, analyze the control program information using the automatically generated initial values for the variables, and generate and output motion prediction result information.

[0094] Furthermore, as described in the above embodiment, the motion prediction result information preferably includes predicted waveform information indicating the predicted waveform of the motion trajectory of the controlled object. However, the predicted waveform information may not be included. In this case, for example, the motion prediction result information may include motion prediction value information indicating the predicted value of the motion trajectory of the controlled object at each predicted timing, and the motion prediction result information output unit 130 may display the predicted values of the motion trajectory of the controlled object at each predicted timing on the motion prediction result screen 200.

[0095] Furthermore, in the above-described embodiment, the motion prediction result information output unit 130 displays the predicted waveform information and the variable list information for each predicted timing on the motion prediction result screen 200 as the motion prediction result information. However, the motion prediction result information displayed on the motion prediction result screen 200 is not limited to this. For example, the motion prediction result information output unit 130 may also display on the motion prediction result screen 200 a list of program components other than variables such as motion FBs included in one or more instructions of the control program selected by the user.

[0096] Furthermore, in the above-described embodiment, the control program analysis unit 121 can analyze the motion prediction target information even if one or more commands of the control program selected by the user contain errors. However, this is not a limitation. For example, the control program analysis unit 121 may also determine that the motion prediction target information cannot be parsed if one or more commands of the control program selected by the user contain errors. Alternatively, the control program analysis unit 121 may simply display an error message if one or more commands of the control program selected by the user contain errors, and not parse the remaining motion prediction target information that does not contain errors.

[0097] Furthermore, as shown in the above embodiment, the motion prediction result information output unit 130 preferably displays an image based on the predicted waveform information and an image based on the variable list information for each predicted timing on the motion prediction result screen 200. However, this is not limiting and the images may be displayed at different timings or on different screens. For example, the motion prediction result information output unit 130 may display an image based on the predicted waveform information on the first motion prediction result screen and an image based on the variable list information for each predicted timing on the second motion prediction result screen.

[0098] Furthermore, as described in the above embodiment, when the value of a variable displayed in the variable list display field 201 of the motion prediction result screen 200 is changed due to user input, the motion prediction device 100 preferably recalculates the predicted value, regenerates the predicted waveform information, and updates the display of the predicted waveform information. However, this is not limiting. For example, even if the value of a variable displayed in the variable list display field 201 of the motion prediction result screen 200 is changed due to user input, the motion prediction device 100 may not recalculate the predicted value, regenerate the predicted waveform information, or update the display of the predicted waveform information.

[0099] Furthermore, as described in the above embodiment, when the user presses the export button 209, the motion prediction device 100 preferably converts the file format of the predicted waveform information and then outputs the motion prediction result information including the predicted waveform information to the external device 40. However, the present invention is not limited to this. For example, the motion prediction device 100 may output the motion prediction result information including the predicted waveform information in an unconverted file format to the external device 40.

[0100] Furthermore, the core components of the control program creation support device 10 and the motion prediction device 100, which include the control unit 51, main storage unit 52, external storage unit 53, operation unit 54, display unit 55, transceiver unit 56, internal bus 50, etc., are not limited to dedicated systems and can be implemented using a conventional computer system. For example, a motion prediction program for executing the above-mentioned actions can be stored as a computer program on a computer-readable recording medium such as a flash memory or DVD-ROM (Read-Only Memory) and distributed, and the motion prediction program can be installed to thereby construct a computer that executes the above-mentioned processing. Alternatively, the motion prediction program can be pre-stored in a storage device of a server device on a communication network such as a LAN (Local Area Network) or the Internet 30, and downloaded by a conventional computer system to thereby construct a computer.

[0101] In addition, when the functions of the control program creation support device 10 and the motion prediction device 100 are realized by sharing the OS (Operating System) and the application, or by the OS and the application working together, only the application part may be stored in the recording medium or storage device.

[0102] Alternatively, the FA control test assisting program can be superimposed on a carrier wave and provided via a communication network. For example, the motion prediction program can be posted on a bulletin board (BBS) on a communication network and provided via the network. Furthermore, the aforementioned processing can be performed by activating the motion prediction program and executing it under the control of the OS, similarly to other applications.

[0103] The present invention can be implemented in various embodiments and variations without departing from the broad spirit and scope of the present invention. Furthermore, the above-described embodiments are provided to illustrate the present invention and are not intended to limit the scope of the present invention. That is, the scope of the present invention is not defined by the embodiments but by the claims. Furthermore, variations implemented within the scope of the claims and their equivalents are considered to fall within the scope of the present invention.

[0104] Description of the label

[0105] 10…Control program creation support device, 11…Program editing unit, 12…Program editing screen, 13…Program editing screen display unit, 14…Initial setting unit, 15…Initial setting screen, 16…Initial setting screen display unit, 17…Action prediction button, 20…FA control device, 21…FA equipment, 22…Drive shaft, 30…Internet, 40…External device, 50…Internal bus, 51…Control unit, 52…Main storage unit, 53…External storage unit, 54…Operation unit, 55…Display unit, 56…Transmitter / receiver unit, 59…Control program, 100…Action prediction device, 110…Action prediction target information acquisition unit, 111…Control program information acquisition unit, 112…Initial setting information acquisition unit, 120…Action prediction result Result information generating unit, 121…Control program analyzing unit, 122…Action prediction calculation unit, 123…Prediction waveform information generating unit, 130…Action prediction result information output unit, 131…Action prediction result screen display unit, 132…Prediction waveform information display unit, 133…Variable display unit, 134…File format conversion unit, 135…Export unit, 200…Action prediction result screen, 201…Variable list display bar, 202…Prediction waveform update button, 203…Speed selection check box, 204…Acceleration selection check box, 205…Jerkness selection check box, 206…Control object list display bar, 207…Control object check box, 208…Prediction waveform display bar, 209…Export button, 210…End button.

Claims

1. A motion prediction program that causes a computer to function as the following units: an action prediction target information acquisition unit configured to acquire action prediction target information, the action prediction target information including control program information and relating to an action to be predicted among actions of a control target, the control program information being information based on one or more commands, the one or more commands being one or more commands of the control program selected by a user from a plurality of commands constituting a routine of the control program for controlling the action of the control target; a motion prediction result information generating unit that generates motion prediction result information representing a result of predicting the motion of the control target based on the motion prediction target information acquired by the motion prediction target information acquiring unit; and The motion prediction result information output unit outputs the motion prediction result information generated by the motion prediction result information generation unit.

2. The motion prediction program according to claim 1, wherein The motion prediction target information includes initial setting information which is information indicating initial values of variables included in the control program set by the user.

3. The motion prediction program according to claim 2, wherein: The action prediction target information acquisition unit includes: a control program information acquisition unit configured to acquire the control program information, the control program information indicating the one or more commands selected by the user from among the plurality of commands of the control program being edited in a program editing unit of a control program creation assistance device that assists the user in creating the control program; as well as An initial setting information acquisition unit acquires the initial setting information generated by the user performing settings in an initial setting unit included in the control program creation support device.

4. The motion prediction program according to any one of claims 1 to 3, wherein: The action prediction result information generating unit includes: a control program analyzing unit for analyzing the motion prediction target information; a motion prediction calculation unit that calculates a predicted value of the motion trajectory of the control object based on the analysis result of the control program analysis unit; as well as A predicted waveform information generating unit generates predicted waveform information indicating a predicted waveform of a motion trajectory of the control target based on the predicted value calculated by the motion prediction calculating unit.

5. The motion prediction program according to claim 4, wherein When one or more of the commands selected by the user have errors, the control program analysis unit does not analyze the commands having the errors among the one or more commands, and analyzes the remaining commands without errors.

6. The motion prediction program according to claim 4 or 5, wherein: The action prediction result information output unit includes: a predicted waveform information display unit configured to display the predicted waveform information included in the motion prediction result information on a motion prediction result screen that displays a result of predicting the motion of the control object; as well as A variable display unit displays, on the motion prediction result screen, variables included in the one or more instructions of the control program analyzed by the control program analyzing unit and values of the variables.

7. The motion prediction program according to claim 6, wherein When the value of the variable being displayed is changed by input by the user, the variable display unit updates the displayed value of the variable from the value before the change to the value after the change. When the variable display unit updates the display of the variable value, the motion prediction calculation unit recalculates the prediction value based on the analysis result of the control program analysis unit and the changed value. When the motion prediction calculation unit recalculates the predicted value, the predicted waveform information generation unit regenerates the predicted waveform information based on the predicted value recalculated by the motion prediction calculation unit. The predicted waveform information display unit updates display of the predicted waveform information from information before regeneration to information after regeneration when the predicted waveform information generation unit regenerates the predicted waveform information.

8. The motion prediction program according to any one of claims 4 to 7, wherein: The action prediction result information output unit includes: a file format conversion unit that converts the predicted waveform information generated by the predicted waveform information generation unit into a file format that can be displayed by a device external to the computer; and The motion prediction result information external output unit outputs the motion prediction result information including the predicted waveform information whose file format has been converted by the file format conversion unit to the external device.

9. A motion prediction device for predicting the motion of a controlled object when a control program for controlling the motion of the controlled object is executed. The motion prediction device has: a motion prediction target information acquisition unit that acquires motion prediction target information, which is information related to a motion to be predicted among the motions of the control target; a motion prediction result information generating unit that generates motion prediction result information representing a result of predicting the motion of the control target based on the motion prediction target information acquired by the motion prediction target information acquiring unit; and an action prediction result information output unit that outputs the action prediction result information generated by the action prediction result information generation unit, The action prediction object information is information including control program information, which is information based on greater than or equal to 1 command, and the greater than or equal to 1 command is greater than or equal to 1 command of the control program selected by the user from multiple commands constituting the routine of the control program.

10. A motion prediction method, comprising: a step of acquiring, by a computer, motion prediction target information, the motion prediction target information being information related to a motion of a control target that is a prediction target and including control program information, the control program information being information based on one or more commands, the one or more commands being one or more commands of the control program selected by a user from a plurality of commands constituting a routine of the control program that controls the motion of the control target; a motion prediction result information generating step, wherein the computer generates motion prediction result information representing a result of predicting the motion of the control object based on the motion prediction target information acquired in the motion prediction target information acquiring step; and The action prediction result information outputting step is to output the action prediction result information generated in the action prediction result information generating step by the computer.

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