Action prediction program product, action prediction apparatus, and action prediction method

Abstract

An action prediction target information acquisition section (110) of an action prediction device (100) in which an action prediction program is installed acquires action prediction target information related to an action in an action of a control target that is a prediction target, an action prediction result information generation section (120) generates action prediction result information indicating a result of prediction of the action of the control target based on the action prediction target information acquired by the action prediction target information acquisition section (110), and an action prediction result information output section (130) outputs the action prediction result information generated by the action prediction result information generation section (120). The action prediction target 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 a control program.

Description

Technical Field

[0001] This invention relates to motion prediction program products, motion prediction devices, and motion prediction methods. Background Technology

[0002] Previously, programs for operating motion prediction display devices were known. These devices predicted the motion of a controlled object when a control program was executed, and displayed the predicted motion trajectory, i.e., a waveform display. The control program controlled the motion of the controlled object. Patent Document 1 disclosed 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 the motion program was executed, and the predicted position is the theoretically predicted position for the specific part of the actual controlled object. In Patent Document 1, the user, i.e., the control manager, performs control programming, simulating the executable file generated by compiling the sequence program and various pre-set parameters. If the error between the predicted position obtained through simulation and the command position exceeds the allowable range, the sequence program and various parameters are corrected.

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

[0004] The program described in Patent Document 1 has the following problem: without using a compiled sequencer to generate the executable file, simulation cannot be performed to obtain the predicted position. Therefore, in the program described in Patent Document 1, the control manager needs the sequencer to be completed to a level suitable for compilation to confirm the error between the predicted position and the command position for a portion of the controlled object's actions, and to define all actions of the controlled object. As a result, in the program described in Patent Document 1, the control manager has to spend considerable time confirming the aforementioned error, thus increasing the adjustment time for control programming.

[0005] The present invention was made in view of the above-mentioned situation, and its purpose is to reduce the working time required to adjust the control program.

[0006] To achieve the above objectives, the motion prediction program of the present invention enables a computer to function as the following units: a motion prediction object information acquisition unit that acquires motion prediction object information, which is information containing control program information and related to the motion of the controlled object that becomes the predicted motion, the control program information being information based on more than one command, which is selected by the user from a plurality of commands constituting a control program that controls the motion of the controlled object; a motion prediction result information generation unit that generates information representing the result of predicting the motion of the controlled object, i.e., motion prediction result information, based on the motion prediction object information acquired by the motion prediction object information acquisition unit; and a motion prediction result information output unit that outputs the motion prediction result information generated by the motion prediction result information generation unit.

[0007] The effects of the invention

[0008] According to the present invention, a computer acquires motion prediction object information, generates and outputs motion prediction result information based on the acquired motion prediction object information, wherein the motion prediction object information includes control program information based on a control program selected by the user, comprising at least one command. As a result, the motion prediction program of the present invention, compared with motion prediction programs that do not acquire motion prediction object information or cannot generate and output motion prediction result information based on the acquired motion prediction object information, can reduce the time required for adjusting the control program, wherein the control program information refers to control program information based on a control program selected by the user, comprising at least one command. Attached Figure Description

[0009] Figure 1 This is an overall explanatory diagram of the control program creation auxiliary device involved in this embodiment.

[0010] Figure 2 It is a diagram showing the functional structure of the control program creating auxiliary devices.

[0011] Figure 3 It is a block diagram representing the hardware structure of the control program creating auxiliary devices.

[0012] Figure 4A This is a diagram showing an example of the program's editing screen.

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

[0014] Figure 4C This is a diagram showing an example of how motion prediction results are displayed.

[0015] Figure 5This is a flowchart of the process for displaying motion prediction results.

[0016] Figure 6 It is a flowchart of the control program's parsing and processing.

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

[0018] Figure 8 This is a flowchart of the predicted waveform update process. Detailed Implementation

[0019] The motion prediction program, motion prediction device, and motion prediction method according to embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Furthermore, identical or equivalent parts are labeled with the same reference numerals in the drawings.

[0020] (Regarding the creation of auxiliary devices 10 by the control program)

[0021] like Figure 1 As shown, the control program creation assistance device 10 according to an embodiment of the present invention is a device that assists in creating a control program used in a Factory Automation (FA) control device 20, such as one that includes a Programmable Logic Controller (PLC). Furthermore, the control program is, for example, a program that controls the movement of a controlled object such as the drive shaft 22 of the FA device 21. In addition, the control program creation assistance device 10 also functions as a motion prediction device 100 (hereinafter referred to as "motion prediction device 100") that predicts the movement of the controlled object when the user-created control program is executed. Furthermore, the control program creation assistance device 10 can transmit and receive information with an external device 40 via the Internet 30, which is an example of a communication network.

[0022] Specifically, the control program creation auxiliary device 10 is a computer device equipped with an engineering setting tool program. This engineering setting tool program is used to implement the functions of an engineering setting tool, that is, to implement the functions of a setting tool used by engineers, i.e., users. Figure 2 As shown, the control program creation auxiliary device 10 includes a program editing unit 11 for editing programs, and the program editing unit 11 includes a display... Figure 4A The screen shown for editing the program is the program editing screen display unit 13 of program editing screen 12. Additionally, the control program creation assist 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... Figure 4BThe screen shown is the initial setting screen display unit 16 of the initial setting screen 15, which displays the initial value of the variable.

[0023] (Regarding motion prediction device 100)

[0024] Additionally, the motion prediction device 100 includes: a motion prediction object information acquisition unit 110, which acquires information related to the motion of the controlled object that becomes the prediction object, i.e., motion prediction object information; a motion prediction result information generation unit 120, which generates motion prediction result information obtained by predicting the motion of the controlled object; and a motion prediction result information output unit 130, which outputs the motion prediction result information. The motion prediction object information acquisition unit 110 includes: a control program information acquisition unit 111, which acquires control program information (described later); and an initial setting information acquisition unit 112, which acquires initial setting information (described later). The motion prediction result information generation unit 120 includes: a control program parsing unit 121, which parses the control program; a motion prediction calculation unit 122, which calculates the predicted value of the motion trajectory of the controlled object; and a prediction waveform information generation unit 123, which generates prediction 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 prediction waveform information display unit 132, which displays the prediction waveform information (described later); and a variable display unit 133, which displays the variables and their values ​​included in the control program. Additionally, the motion prediction result information output unit 130 includes a file format conversion unit 134, which converts the file format of the prediction waveform information (described later), and an export unit 135, which is an example of an external output unit for motion prediction result information that outputs the motion prediction result information to an external system.

[0025] (Regarding the hardware structure of the control program creation auxiliary device 10 and the motion prediction device 100)

[0026] like Figure 3 As shown, the control program creation auxiliary device 10 has a control unit 51 that executes processing according to the control program 59. The control unit 51 has a CPU (Central Processing Unit). The control unit 51 performs processing according to the control program 59 as... Figure 2 The program editing unit 11, initial setting unit 14, motion prediction object information acquisition unit 110, control program information acquisition unit 111, initial setting information acquisition unit 112, motion prediction result information generation unit 120, control program parsing unit 121, motion prediction calculation unit 122, prediction waveform information generation unit 123, and file format conversion unit 134 shown are in operation.

[0027] Return to Figure 3The control program creation auxiliary device 10 has a main storage unit 52 that loads the control program 59 and is used as the working area of ​​the control unit 51. The main storage unit 52 has RAM (Random Access Memory).

[0028] In addition, the control program creation auxiliary device 10 has an external storage unit 53 that stores the control program 59 in advance. The external storage unit 53 supplies the data stored in the program to the control unit 51 according to the instructions of the control unit 51, and stores the data supplied from the control unit 51. The external storage unit 53 has a non-volatile memory such as flash memory, HDD (Hard Disk Drive), or SSD (Solid State Drive).

[0029] In addition, the control program creation assistance device 10 has an operation unit 54 operated by the user. Information input via the operation unit 54 is supplied to the control unit 51. The operation unit 54 has information input components such as a keyboard, mouse, and touch panel.

[0030] Additionally, the control program creation auxiliary device 10 includes a display unit 55 that displays information input via the operation unit 54 and information output via the control unit 51. The display unit 55 may be a display device such as an LCD (Liquid Crystal Display) or an organic EL (Electro-Luminescence) display. The display unit 55 serves as... 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 prediction waveform information display unit 132, and the variable display unit 133 shown are all in operation.

[0031] Return to Figure 3 The control program creation auxiliary device 10 has a transceiver unit 56 for sending and receiving information. The transceiver unit 56 includes information communication components such as a communication network terminal device and a wireless communication device that are connected to a network. The transceiver unit 56 serves as... Figure 2 The output section 135 shown is functional.

[0032] Return to Figure 3 In the control program creation auxiliary 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.

[0033] The control unit 51 uses the main storage unit 52, external storage unit 53, operation unit 54, display unit 55, and transceiver unit 56 as resources to control the program creation auxiliary device 10 to achieve [the desired result]. Figure 2The functions of the aforementioned parts 11, 13, 14, 16, 110-112, 120-123, and 130-135 are as follows: For example, the control program creation auxiliary device 10 performs the program editing steps performed by the program editing unit 11, the program editing screen display steps performed by the program editing screen display unit 13, the initial setting steps performed by the initial setting unit 14, and the initial setting screen display steps performed by the initial setting screen display unit 16.

[0034] Additionally, for example, the motion prediction device 100 executes a motion prediction object information acquisition step performed by the motion prediction object 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. Additionally, 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 parsing step performed by the control program parsing unit 121, a motion prediction calculation step performed by the motion prediction calculation unit 122, and a prediction waveform information generation step performed by the prediction waveform information generation unit 123. Additionally, 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 prediction waveform information display step performed by the prediction waveform information display unit 132, and a variable display step performed by the variable display unit 133. In addition, the motion prediction device 100 performs a file format conversion step performed by the file format conversion unit 134 and an export step performed by the export unit 135 as an example of an external output step for motion prediction result information.

[0035] (Details regarding the functional structure of the motion prediction device 100)

[0036] Return to Figure 2 The motion prediction object information acquisition unit 110 acquires motion prediction object information, which includes control program information (described later) acquired by the control program information acquisition unit 111, initial setting information (described later) acquired by the initial setting information acquisition unit 112, total prediction time information (described later), and prediction interval information (described later).

[0037] When the control program information acquisition unit 111 sets one of the multiple commands constituting the control program as the smallest unit selectable by the user, it acquires control program information, which is information about one or more commands selected by the user. The control program information acquisition unit 111 acquires control program information representing one or more commands selected by the user from the multiple commands of the control program being edited on the program editing unit 11. Specifically, the control program information acquisition unit 111 obtains this information from the program editing screen display unit 13. Figure 4A The control program information displayed on the program editing screen 12 represents the portion of information selected by the user from the control program using the operation unit 54, and thus obtains the control program information selected by the user. At this time, the control program information acquisition unit 111 may also begin to acquire control program information, for example, when the user presses the motion prediction button 17 located on the lower right side of the program editing screen 12 through input from the operation unit 54.

[0038] Here, the format of the "control program" includes not only character data but also graphical data. Therefore, "one command among the multiple commands constituting the routine of the control program" includes not only commands described as character data but also commands described as graphical data. Thus, regarding "one command among the multiple commands constituting the routine of the control program," for example, in ST language, it could be a statement in the source code, and in ladder logic language, it could be a rung in the ladder diagram. Furthermore, regarding "the portion selected by the user" in this embodiment, for example, in ST language, it is one or more statements in the source code, and in ladder logic language, it is one or more rungs in the ladder diagram. Hereinafter, in this embodiment, the "control program" will be described as source code recorded in ST language, and "the portion selected by the user" will be statements containing one or more commands in that source code.

[0039] The initial setting information acquisition unit 112 acquires initial setting information, which represents the initial values ​​of variables included in the control program set by the user. The initial setting information acquisition unit 112 acquires initial setting information generated by the user's settings in the initial setting unit 14. Specifically, the initial setting information acquisition unit 112 acquires information displayed by the initial setting screen display unit 16. Figure 4B The initial value information of the variables displayed on the initial setting screen 15 is used as initial setting information to obtain the initial setting information set by the user. For example, the initial setting information acquisition unit 112 acquires... Figure 4BThe initial setting information shown includes information such as the initial value of the variable representing speed, "lVelocity," being "1.00." Additionally, the initial setting information acquisition unit 112 acquires information indicating the total prediction time for calculating the predicted value (described later), i.e., total prediction time information, and information indicating the time interval for calculating the predicted value, i.e., prediction interval information, i.e., prediction interval information. Specifically, similar to the initial setting information, the initial setting information acquisition unit 112 acquires the total prediction time information and prediction interval information set by the user by acquiring the information displayed on the initial setting screen 15 indicating the total prediction time and prediction interval as the total prediction time information and prediction interval information. For example, as... Figure 4B As shown, the initial setting information acquisition unit 112 acquires total prediction time information indicating a total prediction time of "00:15.000" and prediction interval information indicating a prediction interval of "0.050".

[0040] The motion prediction result information generation unit 120 generates motion prediction result information, including the prediction waveform information and the variable overview information for each prediction timing, which will be described later, based on the motion prediction object information obtained by the motion prediction object information acquisition unit 110.

[0041] The control program parsing unit 121 parses the motion prediction object information. First, based on the programming language (ST language) of the control program shown in the control program information, the control program parsing unit 121 performs syntax analysis on statements of the control program that contain one or more commands. It identifies and saves program components such as variables and function blocks (FBs) contained in these statements. For example, the control program parsing unit 121 temporarily stores information representing variables identified through syntax analysis (variable information) and information representing function blocks (function blocks) in the main storage unit 52 or the external storage unit 53. Furthermore, if the control program parsing unit 121 determines that any statement of one or more commands contains an error, it ignores the erroneous statement and saves information representing the identified program components (variable information, function block information, etc.) for statements without errors. Additionally, the control program parsing unit 121 completely disregards user-unselected portions of the control program that differ from user-selected statements of one or more commands during syntax analysis. Therefore, even if the value of the variable contained in a statement containing more than or equal to one command selected by the user changes, such as in a part of the control program that is not selected by the user or in a program different from the control program, and the motion FB contained in the statement contains commands to perform different actions, the control program parsing unit 121 does not consider such phenomena at all, and only performs syntax analysis on the statement.

[0042] Furthermore, the control program analysis unit 121 uses variable information, total prediction time information, and prediction interval information to generate a list of all variables and their values ​​identified in units of prediction intervals from the start of prediction to the total prediction time. For example, the control program analysis unit 121 calculates the elapsed time from the start of prediction by multiplying the prediction interval shown in the prediction interval information by the number of times the variable list information is generated, and generates a list of variables for the next prediction timing after the calculated elapsed time has elapsed since the start of prediction. Moreover, the control program analysis unit 121 generates a list of variables for each prediction timing by repeating the above process until the calculated elapsed time becomes greater than or equal to the total prediction time shown in the total prediction time information. In addition, at this time, the initial values ​​of each variable shown in the initial setting information can also be registered in advance as temporary values ​​of each variable shown in the variable list information for each prediction timing.

[0043] The motion prediction calculation unit 122 calculates the predicted value of the motion trajectory of the controlled object based on the analysis result of the control program analysis unit 121. Based on the motion FB information and variable overview information stored by the control program analysis unit 121, the motion prediction calculation unit 122 repeatedly updates the variable overview information based on changes in variable values ​​before the execution of the motion FB, executes the motion FB, obtains the predicted value of the motion trajectory of each controlled object after the execution of the motion FB, and updates the variable overview information based on changes in variable values, in units of prediction intervals and for all motion FBs.

[0044] Specifically, firstly, the motion prediction calculation unit 122 calculates the changes in the values ​​of each variable before executing 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 at the current prediction timing. Next, the motion prediction calculation unit 122 executes the motion FB using the values ​​of each variable shown in the variable overview information at the current prediction timing, obtaining the current values ​​of all variables related to the motion trajectory of each controlled object. As a result, the motion prediction calculation unit 122 is able to calculate the predicted values ​​of the motion trajectories of each controlled object at the current prediction timing. Then, the motion prediction calculation unit 122 updates the values ​​of each variable shown in the variable overview information at the current prediction timing based on the changes in the values ​​of the variables after executing the motion FB.

[0045] Furthermore, the motion prediction calculation unit 122 repeats the execution of the aforementioned motion FB and the processing before and after it, based on the total number of motion FBs shown in the motion FB information. Then, the motion prediction calculation unit 122 updates the values ​​of each variable shown in the variable list information for the next prediction timing to the values ​​of each variable shown in the variable list information for the current prediction timing. This repetitive processing is repeated for all prediction timings until the calculation of the predicted values ​​for each controlled object and the updating of the values ​​of each variable shown in the variable list information are completed. As a result, the motion prediction calculation unit 122 can calculate the predicted values ​​of the motion trajectories of all controlled objects and update the values ​​of each variable shown in the variable list information for all prediction timings throughout the entire prediction timing process.

[0046] The prediction waveform information generation unit 123 generates prediction waveform information, which represents the predicted waveform of the motion trajectory of the controlled object obtained based on the predicted values ​​calculated by the motion prediction calculation unit 122. Based on the predicted values ​​of the motion trajectories of each controlled object at all predicted timings calculated by the motion prediction calculation unit 122, the prediction waveform information generation unit 123 generates prediction waveform information for each controlled object. This prediction waveform information represents the values ​​plotted in the graph of the prediction waveform displayed in the prediction waveform display bar 208 (described later).

[0047] The motion prediction result information output unit 130 outputs information including prediction waveform information and a list of variables for each prediction timing as motion prediction result information generated by the motion prediction result information generation unit 120.

[0048] Motion prediction result display unit 131 Figure 4C The motion prediction result screen 200, which displays the motion prediction result information, is shown as an example. Figure 4CAs shown, the motion prediction result screen 200 includes a variable overview display bar 201 at the top that displays a list of variables and their values, and a prediction waveform update button 202 located on the lower left side of the variable overview display bar 201 that indicates the start of updating the prediction waveform information. Additionally, the motion prediction result screen 200 includes a velocity selection checkbox 203 to the right of the prediction waveform update button 202, indicating that a velocity prediction waveform has been selected; an acceleration selection checkbox 204 to the right of the velocity selection checkbox 203, indicating that an acceleration prediction waveform has been selected; and a jerk selection checkbox 205 to the right of the acceleration selection checkbox 204, indicating that a jerk (jump, jerk) prediction waveform has been selected. Additionally, the motion prediction result screen 200 includes a control object overview display bar 206 located below the prediction waveform update button 202, which displays a list of all controlled objects, and a prediction waveform display bar 208, which displays the prediction waveform of a single controlled object selected through the checkboxes 207 for each controlled object. The checkboxes 207 correspond to the controlled objects displayed in the control object overview display bar 206. Furthermore, the motion prediction result screen 200 includes an export button 209 located below the prediction waveform display bar 208, which indicates the output of motion prediction result information to an external system, and an end button 210 located to the right of the export button 209, which indicates the end of the display of the motion prediction result screen 200.

[0049] 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 the predicted waveform plotted using the values ​​shown in the predicted waveform information. Figure 4C The predicted waveform display bar 208 of the motion prediction result screen 200 shown.

[0050] Return to Figure 2 The variable display unit 133 displays the variables and their values ​​contained in statements of the control program consisting of one or more commands, obtained through syntax analysis by the control program parsing unit 121. The variable display unit 133 displays images representing the values ​​of each variable for each prediction timing generated using a list of variables for each prediction timing included in the action prediction result information and initial setting information. Figure 4C The variable overview display bar 201 of the motion prediction result screen 200 shown is shown.

[0051] Furthermore, when the value of a displayed variable is changed by input from the user's 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. For example, in Figure 4CWhen the initial value of the speed variable "lVelocity" displayed in the variable list display bar 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 bar 201 from the value before the change "1.00" to the value after the change "0.50".

[0052] Furthermore, when the variable display unit 133 updates the display of variable values, the motion prediction calculation unit 122 obtains the changed values ​​from the variable display unit 133 and recalculates the predicted values ​​based on the analysis results of the control program analysis unit 121 and the changed values. For example, in Figure 4C After the initial value of the velocity variable "lVelocity" in the variable list display bar 201 is updated to "0.50", when the prediction waveform update button 202 is pressed by the user through the operation unit 54, the motion prediction calculation unit 122 obtains the variable list information that 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 during all prediction timings, and updates the values ​​of each variable shown in the variable list information during all prediction timings again.

[0053] Furthermore, when the motion prediction calculation unit 122 recalculates the predicted value, the prediction waveform information generation unit 123 regenerates the prediction waveform information based on the recalculated predicted value. Additionally, when the prediction waveform information generation unit 123 regenerates the prediction waveform information, the prediction waveform information display unit 132 updates the display of the prediction waveform information from the information before regeneration to the information after regeneration. For example, 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 prediction waveform information generation unit 123 regenerates prediction waveform information for each controlled object, and the prediction waveform information display unit 132 updates the display of the prediction waveform display bar 208 to an image of the prediction waveform drawn using the values ​​shown in the regenerated prediction waveform information. Moreover, the variable display unit 133 updates the display of the values ​​of each variable at each predicted timing in the variable overview display bar 201 from the values ​​before the update shown in the variable overview information for each predicted timing to the updated values.

[0054] 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 outside the control program creation auxiliary device 10.

[0055] The export unit 135 outputs 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, in the motion prediction result screen 200, when the image is displayed in the variable list display bar 201, the control object list display bar 206, and the predicted waveform display bar 208, and the export button 209 is pressed by the user through the operation unit 54, the export unit 135 outputs motion prediction result information including the predicted waveform information to the predetermined external device 40.

[0056] (Regarding the display and processing of motion prediction results)

[0057] The following uses a flowchart to explain the process by which the motion prediction device 100 obtains motion prediction object information and displays the generated motion prediction result information on the motion prediction result screen 200. If, while the control program being edited is displayed on the program editing screen 12, the user selects a statement with one or more commands using the operation unit 54 and presses the motion prediction button 17, then the motion prediction device 100 begins execution. Figure 5 The motion prediction result screen is displayed and processed. 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). The initial setting information acquisition unit 112 acquires the initial setting information, total prediction time information and prediction interval information set by the user displayed on the initial setting screen 15 (step S102).

[0058] After acquiring the information, the control program parsing unit 121 performs the control program parsing process described later (step S103), and the motion prediction calculation unit 122 performs the motion prediction calculation process described later (step S104). After performing the motion prediction calculation process, the prediction waveform information generation unit 123 generates prediction waveform information representing the motion trajectory of the controlled object obtained based on the prediction value calculated by the motion prediction calculation unit 122 (step S105), and the motion prediction result display unit 131 displays the motion prediction result screen 200 (step S106). After displaying the screen, the prediction waveform information display unit 132 displays an image of the graph of the prediction waveform obtained based on the prediction waveform information in the prediction waveform display bar 208 (step S107), and the variable display unit 133 displays an image representing the value of each variable for each prediction timing obtained based on the variable overview information for each prediction timing and the initial setting information in the variable overview display bar 201 (step S108), and the process ends.

[0059] (Regarding control program parsing and processing)

[0060] Next, a flowchart is used to illustrate the actions of the motion prediction device 100 in parsing the control program. If step S103 of the motion prediction result display process described above is executed, the motion prediction device 100 begins execution. Figure 6 The control program parsing process is shown. First, the control program parsing unit 121 performs syntax analysis on the statements of the control program with more than or equal to one command in the control program information contained in the motion prediction object information (step S201), and obtains information of program components such as variable information and motion FB information (step S202).

[0061] After acquiring the information, the control program analysis unit 121 calculates the elapsed time from the start of the prediction by multiplying the prediction interval shown in the prediction interval information by the number of times the variable overview information is generated, thereby determining the next prediction timing after the elapsed time has elapsed since the start of the prediction (step S203). After determining the prediction timing, the control program analysis unit 121 generates variable overview information that represents a list of all variables and their values ​​shown in the variable information (step S204), and determines whether the calculated elapsed time is greater than or equal to the total prediction time shown in the total prediction time information (step S205). If the elapsed time does not become greater than or equal to the total prediction time (step S205; N), the control program analysis unit 121 returns to step S203, and repeats the processing of steps S203 to S205 until the calculated elapsed time is greater than or equal to the total prediction time. Moreover, if the elapsed time is greater than or equal to the total prediction time (step S205; Y), the control program analysis unit 121 ends the control program analysis processing and returns to step S103 of the action prediction result screen display processing.

[0062] (Regarding motion prediction calculation and processing)

[0063] Next, a flowchart is used to illustrate the action of the motion prediction device 100 calculating the predicted value of the motion trajectory of the controlled object. If step S104 of the motion prediction result display process is executed, the motion prediction device 100 begins to execute... Figure 7 The motion prediction calculation process is shown. 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 parsing unit 121 (step S301), then selects the next prediction timing in sequence (step S302), and then selects the next motion FB in sequence (step S303).

[0064] After selecting the motion FB, the motion prediction calculation unit 122 calculates the changes in the values ​​of each variable before executing 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 at the current prediction timing (step S304). After updating the values, the motion prediction calculation unit 122 executes the motion FB using the values ​​of each variable shown in the variable overview information at the current prediction timing (step S305), obtains the current values ​​of all variables related to the motion trajectory of each controlled object, and calculates the predicted value of the motion trajectory of each controlled object at the current prediction timing (step S306). After calculating the predicted value, the motion prediction calculation unit 122 updates the values ​​of each variable shown in the variable overview information at the current prediction timing based on the changes in the values ​​of the variables after executing the motion FB (step S307).

[0065] After updating the values, the motion prediction calculation unit 122 determines whether all motion FBs shown in the motion FB information have been selected (step S308). If not all motion FBs have been selected (step S308; N), the motion prediction calculation unit 122 returns to step S303 and repeats steps S303 to S308 until all motion FBs are 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 not all prediction timings have been selected (step S309; ​​N), the motion prediction calculation unit 122 updates the values ​​of each variable shown in the variable list information for the next prediction timing to the values ​​of each variable shown in the variable list information for the current prediction timing (step S310), returns to step S302, and repeats steps S302 to S310 until all prediction timings are selected. Furthermore, 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 display process.

[0066] (Regarding the prediction waveform update process)

[0067] Next, a flowchart will be used to explain the actions of the motion prediction device 100 in updating the predicted waveform information. The motion prediction device 100 begins execution after processing the motion prediction result display. Figure 8The predicted waveform update process is as follows: First, the variable display unit 133 determines whether the value of the variable displayed in the variable overview display bar 201 of the motion prediction result screen 200 has been changed due to input from 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 value of the variable from the value before the change to the value after the change (step S402), and the motion prediction calculation unit 122 determines whether the predicted waveform update button 202 has been pressed due to input from the user using the operation unit 54 (step S403).

[0068] If the prediction waveform update button 202 is not pressed (step S403; N), the motion prediction calculation unit 122 returns to step S401 and repeats steps S401 to 403 until the user changes the value and presses the prediction waveform update button 202. On the other hand, if the prediction 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 uses the control program parsing unit 121 to execute the parsing result and the changed value during the control program parsing process, and then performs the motion prediction calculation process again (step S405). After performing the motion prediction calculation process, the prediction waveform information generation unit 123 generates prediction waveform information again, representing the predicted waveform of the motion trajectory of the controlled object obtained 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 bar 208 to an image 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 prediction timing in the variable overview display bar 201 from the values ​​of each variable before the update shown in the variable overview information of each prediction timing to the updated values ​​(step S408), and the process ends.

[0069] Furthermore, regarding the export process where the motion prediction device 100 outputs motion prediction result information to the external device 40, when the image is displayed in the display bars 201, 206, and 208 of the motion prediction result screen 200, and the user presses the export button 209 via input from the operation unit 54, the motion prediction device 100 begins operation. Then, only the file format conversion unit 134 converts the predicted waveform information into a file format that the external device 40 can display, and the export unit 135 outputs the motion prediction result information, containing the converted predicted waveform information, to the pre-defined external device 40. Therefore, to avoid lengthy explanations, flowchart illustrations and detailed descriptions are omitted.

[0070] As described above, according to the motion prediction apparatus 100 of this embodiment, the motion prediction object information acquisition unit 110 acquires motion prediction object information related to the motion of the controlled object that is the prediction object. Furthermore, the motion prediction result information generation unit 120 generates motion prediction result information representing the result of predicting the motion of the controlled object based on the motion prediction object information acquired by the motion prediction object 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 object information includes information based on control program information of one or more commands, where one or more commands are selected by the user from a plurality of commands constituting the control program routines.

[0071] Therefore, the motion prediction device 100 according to this embodiment acquires motion prediction object information, generates and outputs motion prediction result information based on the acquired motion prediction object information, wherein the motion prediction object information includes control program information based on a control program selected by the user with one or more commands. As a result, compared with motion prediction programs that do not acquire motion prediction object information or cannot generate and output motion prediction result information based on the acquired motion prediction object information, the motion prediction device 100 according to this embodiment can reduce the time required to adjust the control program, wherein the motion prediction object information includes control program information based on a control program selected by the user with one or more commands.

[0072] In particular, according to the motion prediction device 100 of this embodiment, the motion prediction object information includes initial setting information representing the initial values ​​of variables included in the control program set by the user.

[0073] Therefore, the motion prediction device 100 according to this embodiment obtains motion prediction object information, parses the motion prediction object information to generate and output motion prediction result information. This motion prediction object information includes control program information based on a control program selected by the user, consisting of one or more commands, and initial setting information representing 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 controlled object using the initial values ​​of variables set by the user, for the selected portion of the control program.

[0074] Furthermore, according to the motion prediction device 100 of this embodiment, in the motion prediction object information acquisition unit 110, the control program information acquisition unit 111 acquires control program information. This control program information represents one or more commands selected by the user from among the multiple commands of the control program being edited in the program editing screen display 12 displayed on the program editing screen display unit 13 of the program editing unit 11 of the control program creation assist device 10. Additionally, in the motion prediction object information acquisition unit 110, the initial setting information acquisition unit 112 acquires initial setting information generated by the user setting settings in the initial setting screen display 15 displayed on the initial setting screen display unit 16 of the initial setting unit 14 of the control program creation assist device 10.

[0075] Therefore, regarding the motion prediction device 100 according to this embodiment, if, in the control program creation aid 10, the user sets the initial values ​​of the variables included in the control program and selects one or more commands of the control program, then the motion prediction object information can be obtained for the control program during editing in the control program creation aid 10, and the motion prediction object information can be parsed to generate and output motion prediction result information. As a result, even if the creation of the control program is not yet complete, the motion prediction device 100 according to this embodiment can still obtain motion prediction object information for the control program, parse the motion prediction object information, and generate and output motion prediction result information.

[0076] Furthermore, according to the motion prediction device 100 of this embodiment, in the motion prediction result information generation unit 120, the control program parsing unit 121 parses the motion prediction object information. Moreover, in the motion prediction result information generation unit 120, the motion prediction calculation unit 122 calculates the predicted value of the motion trajectory of the controlled object based on the parsing result of the control program parsing unit 121, and the prediction waveform information generation unit 123 generates prediction waveform information, which represents the predicted waveform of the motion trajectory of the controlled object obtained based on the predicted value calculated by the motion prediction calculation unit 122.

[0077] Therefore, the motion prediction device 100 according to this embodiment can generate prediction waveform information based on the predicted value of the motion trajectory of the controlled object by parsing the motion prediction object information.

[0078] Specifically, according to the motion prediction device 100 of this embodiment, if one or more commands selected by the user have errors, the control program parsing unit 121 will not parse the commands with errors among the one or more commands selected by the user, but will parse the remaining commands without errors.

[0079] Therefore, the motion prediction device 100 according to this embodiment can parse any command greater than or equal to one selected by the user, regardless of whether there is an error.

[0080] In the device described in Patent Document 1, the user, i.e., the person in charge of control, needs to repeatedly modify and recompile the sequence program until there are no compilation errors during simulation. That is, the device described in Patent Document 1 has the following problem: before the sequence program is modified and compiled, it is impossible to simulate and calculate or display the predicted position of the controlled object. As a result, in the device described in Patent Document 1, in order to confirm the modification of the sequence program or various parameters, the user needs to simulate and display the predicted position using the compiled executable file and the modified parameters after compiling the sequence program. Since confirming the modification takes time, there is an increase in the adjustment time for control programming.

[0081] In contrast, in the motion prediction device 100 of this embodiment, when the user predicts the motion of the controlled object, the prediction start operation is performed based on the user selecting one or more commands from the multiple commands of the control program during editing in the program editing screen 12. Therefore, in the motion prediction device 100 of this embodiment, the motion of the controlled object can be predicted and motion prediction result information can be generated and output even without compilation. Regardless of whether there are errors in the one or more commands selected by the user during editing, the device can parse the errors and predict the motion of the controlled object based on the parsing results. As a result, the motion prediction device 100 of 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 disappear. Compared with the device described in Patent Document 1, it can reduce the effort required for correction confirmation and reduce the adjustment time for control programming.

[0082] Furthermore, according to the motion prediction device 100 of this embodiment, in the motion prediction result information output unit 130, the prediction waveform information display unit 132 displays an image of the predicted waveform obtained based on the predicted waveform information included in the motion prediction result information on the prediction waveform display bar 208 of the motion prediction result screen 200. Additionally, the variable display unit 133 displays an image representing the values ​​of each variable at each prediction timing obtained based on the variable and the variable's value on the variable overview display bar 201 of the motion prediction result screen 200. These variables and their values ​​are variables and their values ​​included in a control program command of one or more values, obtained by the control program parsing unit 121.

[0083] Therefore, as a method of outputting motion prediction result information, the motion prediction device 100 according to this embodiment can display the predicted waveform information and the variables and their values. Furthermore, the motion prediction device 100 according to this embodiment can simultaneously display the predicted waveform information and the variables and their values ​​on the motion prediction result screen 200, allowing the user to confirm the variables and their values ​​while simultaneously confirming the predicted waveform information.

[0084] Specifically, according to the motion prediction device 100 of this embodiment, when the value of a variable displayed in the variable overview display bar 201 changes due to user input, the variable display unit 133 updates the displayed value of the variable 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 result of the control program analysis unit 121 and the changed value of the variable, and the prediction waveform information generation unit 123 regenerates prediction waveform information based on the prediction value recalculated by the motion prediction calculation unit 122. Furthermore, in this case, the prediction waveform information display unit 132 updates the display of the prediction waveform information from the information before regeneration to the information after regeneration.

[0085] Therefore, in the motion prediction device 100 of 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. That is, in the motion prediction device 100 of this embodiment, the user can confirm the change in the predicted waveform of the controlled object's motion trajectory simply by changing the value of the variable. As a result, compared with motion prediction devices that do not update the display of predicted waveform information when the user changes the value of the variable, the motion prediction device 100 of this embodiment makes it easier to confirm the change in predicted waveform information caused by the change of variable value, and can reduce the time required to adjust the control program.

[0086] 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 prediction waveform information generated by the prediction waveform information generation unit 123 into a file format that can be displayed by the device 40 outside the control program creation auxiliary device 10. Moreover, in the motion prediction result information output unit 130, the export unit 135 outputs the motion prediction result information, including the prediction waveform information after the file format conversion unit 134 has converted the file format, to the external device 40.

[0087] Therefore, as a method of outputting motion prediction result information, the motion prediction device 100 according to this embodiment can output motion prediction result information including prediction waveform information to the outside. Furthermore, with respect to the motion prediction device 100 according to this embodiment, the user of the external device 40 can display the prediction waveform information and confirm the predicted waveform of the motion trajectory of the controlled object.

[0088] (Example of the change)

[0089] Furthermore, as shown in the above embodiments, it is preferable that the control program information represents information of one or more commands of the control program selected by the user, but it is not limited to this as long as the information is based on one or more commands 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 commands of the control program, or it may be an executable file obtained by compiling the test program.

[0090] Furthermore, in the above embodiment, the motion prediction device 100 is a function included in the control program creation aid 10 and is integrated with the control program creation aid 10. However, it is not limited to this; the motion prediction device 100 and the control program creation aid 10 can also be separate entities. In this case, the motion prediction object information acquisition unit 110, the control program information acquisition unit 111, and the initial setting information acquisition unit 112 acquire each piece of information from the separate control program creation aid 10. Additionally, 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 aid 10 and set the initial values ​​of each variable through the control program creation aid 10.

[0091] Furthermore, as shown in the above embodiments, it is preferable that the motion prediction object information includes initial setting information representing the initial values ​​of variables included in the control program set by the user, but it may also omit the initial setting information. In this case, the motion prediction device 100 may, for example, automatically generate the initial values ​​of the variables based on the control program information, parse the control program information using the automatically generated initial values ​​of the variables, and generate and output motion prediction result information.

[0092] Furthermore, as shown in the above embodiment, it is preferable that the motion prediction result information includes prediction waveform information representing the predicted waveform of the motion trajectory of the controlled object, but it may not include prediction waveform information. In this case, for example, the motion prediction result information may include information representing the predicted value of the motion trajectory of the controlled object at each prediction timing, i.e., motion prediction value information, and the motion prediction result information output unit 130 displays the predicted value of the motion trajectory of the controlled object at each prediction timing in a summary view on the motion prediction result screen 200.

[0093] Furthermore, in the above embodiment, the motion prediction result information output unit 130 displays the predicted waveform information and a list of variables for each prediction timing as motion prediction result information on the motion prediction result screen 200. 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 information on the motion prediction result screen 200 indicating a list of program components other than variables such as motion FB contained in one or more commands of the control program selected by the user.

[0094] Furthermore, in the above embodiment, even if one or more commands of the control program selected by the user contain errors, the control program parsing unit 121 can still parse the motion prediction object information, but it is not limited to this. For example, the control program parsing unit 121 may also set the motion prediction object information as unparseable if one or more commands of the control program selected by the user contain errors. Additionally, for example, the control program parsing unit 121 may only display the meaning of "error exists" when one or more commands of the control program selected by the user contain errors, without parsing the remaining parts of the motion prediction object information that do not contain errors.

[0095] Furthermore, as shown in the above embodiment, it is preferable that the motion prediction result information output unit 130 simultaneously displays an image based on the predicted waveform information and an image based on the variable overview information for each prediction timing in the motion prediction result screen 200. However, it is not limited to this; it is also possible to display each image at different timings and on different screens. For example, the motion prediction result information output unit 130 may display an image based on the predicted waveform information in the first motion prediction result screen, and on the other hand, display an image based on the variable overview information for each prediction timing in the second motion prediction result screen.

[0096] Furthermore, as described in the above embodiment, it is preferable that the motion prediction device 100 recalculates the predicted value, regenerates the predicted waveform information, and updates the display of the predicted waveform information when the value of the variable displayed in the variable overview display bar 201 of the motion prediction result screen 200 changes due to user input. However, it is not limited to this. For example, even if the value of the variable displayed in the variable overview display bar 201 of the motion prediction result screen 200 changes 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.

[0097] Furthermore, as shown in the above embodiment, it is preferable that the motion prediction device 100 converts the file format of the predicted waveform information when the user presses the export button 209, and then outputs the motion prediction result information containing the predicted waveform information to the external device 40, but it is not limited to this. For example, the motion prediction device 100 may also output the motion prediction result information containing the predicted waveform information without converting the file format to the external device 40.

[0098] Furthermore, the central part, which is the control program creation auxiliary device 10 and the motion prediction device 100 that perform the processing, including the control unit 51, main storage unit 52, external storage unit 53, operation unit 54, display unit 55, transceiver unit 56, and internal bus 50, is not limited to a dedicated system and can be implemented using a conventional computer system. For example, the motion prediction program, which is a computer program for performing the above-mentioned actions, can be stored in a computer-readable recording medium, such as flash memory or DVD-ROM (Read-Only Memory), and then distributed and installed to form a computer that performs the above-mentioned processing. Alternatively, the motion prediction program can be pre-stored in the storage device of a server device on a communication network such as a LAN (Local Area Network) or the Internet 30, and downloaded to a conventional computer system to form a computer.

[0099] Alternatively, when the functions of the control program creation auxiliary device 10 and the action prediction device 100 are realized through the sharing of the OS (Operating System) and the application, or through the coordinated action of the OS and the application, only the application part may be stored in the recording medium or storage device.

[0100] Alternatively, the FA control test auxiliary program can be superimposed on the carrier wave and provided via a communication network. For example, the motion prediction program can be published on a bulletin board system (BBS) on the communication network and provided via the network. Moreover, the above-mentioned processing can be performed by starting the motion prediction program and executing it under the control of the OS, just like other applications.

[0101] This invention can be implemented and modified in various ways without departing from its broad spirit and scope. Furthermore, the above-described embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. That is, the scope of the invention is defined not by the embodiments, but by the claims. Moreover, various modifications implemented within the scope of the claims and their equivalents are considered to fall within the scope of this invention.

[0102] Explanation of the label

[0103] 10…Control program creation auxiliary 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…Motion prediction button, 20…FA control device, 21…FA device, 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…Motion prediction device, 110…Motion prediction object information acquisition unit, 111…Control program information acquisition unit, 112…Initial setting information acquisition unit, 120…Motion prediction result Result Information Generation Unit, 121…Control Program Analysis Unit, 122…Motion Prediction Calculation Unit, 123…Predicted Waveform Information Generation Unit, 130…Motion Prediction Result Information Output Unit, 131…Motion Prediction Result Screen Display Unit, 132…Predicted Waveform Information Display Unit, 133…Variable Display Unit, 134…File Format Conversion Unit, 135…Export Unit, 200…Motion Prediction Result Screen, 201…Variable Overview Display Bar, 202…Predicted Waveform Update Button, 203…Speed ​​Selection Checkbox, 204…Acceleration Selection Checkbox, 205…Jerus Selection Checkbox, 206…Control Object Overview Display Bar, 207…Control Object Checkbox, 208…Predicted Waveform Display Bar, 209…Export Button, 210…End Button.

Claims

1. A motion prediction program product that enables a computer to function as the following components: The action prediction object information acquisition unit acquires action prediction object information, which includes control program information and is related to the action of the control object that becomes the prediction object. The control program information is based on information of more than or equal to one command, which is selected by the user from a plurality of commands constituting the routine of the control program that controls the action of the control object. The motion prediction result information generation unit generates motion prediction result information, which, based on the motion prediction object information obtained by the motion prediction object information acquisition unit, generates information representing the result of predicting the motion of the controlled object; and The motion prediction result information output unit outputs the motion prediction result information generated by the motion prediction result information generation unit. The motion prediction result information generation unit uses the statements of the commands of the control program shown in the control program information to perform syntax analysis based on the programming language of the control program, and identifies the program components contained in the statements, and generates the motion prediction result information without compiling the statements. When using the control program to control the actions of the controlled object, the control program is executed after compilation.

2. The motion prediction program product according to claim 1, wherein, The action prediction object information includes the total prediction time information and prediction interval information set by the user.

3. The motion prediction program product according to claim 1 or 2, wherein, The motion prediction object information includes information representing the initial values ​​of variables included in the control program set by the user, i.e., initial setting information.

4. The motion prediction program product according to claim 3, wherein, The action prediction object information acquisition unit includes: The control program information acquisition unit acquires the control program information, which represents one or more commands selected by the user from among the plurality of commands of the control program being edited in the program editing unit of the control program creation aid device. The control program creation aid device is a device that assists the user in creating the control program. as well as The initial setting information acquisition unit acquires the initial setting information generated by the user through the initial setting unit of the control program creation auxiliary device.

5. The motion prediction program product according to claim 1 or 2, wherein, The action prediction result information generation unit includes: The control program parsing unit parses the action prediction object information; The motion prediction calculation unit calculates the predicted value of the motion trajectory of the controlled object based on the parsing result of the control program parsing unit; as well as The prediction waveform information generation unit generates prediction waveform information, which represents the prediction waveform of the motion trajectory of the controlled object obtained based on the prediction value calculated by the motion prediction calculation unit.

6. The motion prediction program product according to claim 5, wherein, If one or more commands selected by the user contain errors, the control program parsing unit will not parse the commands containing the errors, but will parse the remaining commands that do not contain the errors.

7. The motion prediction program product according to claim 5, wherein, The action prediction result information output unit includes: The prediction waveform information display unit displays the prediction waveform information contained in the motion prediction result information on the motion prediction result screen, which displays the result obtained by predicting the motion of the controlled object. as well as The variable display unit displays, in the action prediction result screen, the variables and values ​​of the variables contained in the control program's commands (greater than or equal to one) obtained by the control program parsing unit.

8. The motion prediction program product according to claim 7, wherein, When the value of the displayed variable is changed due to input from 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 displayed value of the variable, the action prediction calculation unit recalculates the predicted 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 generates the predicted waveform information again based on the predicted value recalculated by the motion prediction calculation unit. When the predicted waveform information generation unit regenerates the predicted waveform information, the predicted waveform information display unit updates the display of the predicted waveform information from the information before regeneration to the information after regeneration.

9. The motion prediction program product according to claim 5, wherein, The action prediction result information output unit includes: The file format conversion unit 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 An external output unit for motion prediction results is a device that outputs motion prediction result information, which includes the predicted waveform information whose file format has been transformed by the file format conversion unit, to the external device.

10. A motion prediction device that predicts the motion of the controlled object when a control program for controlling the motion of the controlled object is executed. The motion prediction device has: The motion prediction object information acquisition unit acquires information related to the motion of the controlled object that becomes the prediction object, namely, motion prediction object information. The motion prediction result information generation unit generates motion prediction result information, which, based on the motion prediction object information obtained by the motion prediction object information acquisition unit, generates information representing the result of predicting the motion of the controlled object; and The motion prediction result information output unit outputs the motion prediction result information generated by the motion prediction result information generation unit. The action prediction object information includes control program information, which is based on one or more commands selected by the user from a set of commands constituting the control program routine. The motion prediction result information generation unit uses the statements of the commands of the control program shown in the control program information to perform syntax analysis based on the programming language of the control program, and identifies the program components contained in the statements, and generates the motion prediction result information without compiling the statements. When using the control program to control the actions of the controlled object, the control program is executed after compilation.

11. The motion prediction device according to claim 10, wherein, The action prediction object information includes the total prediction time information and prediction interval information set by the user.

12. An action prediction method, comprising: The step of obtaining action prediction object information involves a computer obtaining action prediction object information, which includes control program information and is related to the action of the controlled object that becomes the predicted object. The control program information is based on information of more than or equal to one command, which is selected by the user from a plurality of commands constituting the routine of the control program that controls the action of the controlled object. The motion prediction result information generation step involves the computer generating motion prediction result information, based on the motion prediction object information obtained in the motion prediction object information acquisition step; and... The motion prediction result information output step involves the computer outputting the motion prediction result information generated in the motion prediction result information generation step. In the action prediction result information generation step, the computer uses the statements of the commands of the control program shown in the control program information to identify the program components contained in the statements based on the programming language of the control program, and generates the action prediction result information without compiling the statements. When using the control program to control the actions of the controlled object, the control program is executed after compilation.

13. The motion prediction method according to claim 12, wherein, The action prediction object information includes the total prediction time information and prediction interval information set by the user.

Images