Information processing method, program and information processing device

Abstract

To provide an information processing method etc., capable of outputting control instructions to various controlled objects by the use of a sequence file having actions easily added or changed.SOLUTION: An information processing method according to one aspect includes processing to: acquire a sequence file in which pieces of indication information including a control command, a controlled object, and a parameter specifying control details for the controlled object are defined in time-series order from a PLC; and output a control instruction corresponding to the control command and parameter to various controlled objects by the PLC in the order of the indication information in the acquired sequence parameter.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an information processing method, a program, and an information processing apparatus.

Background Art

[0002] In recent years, the development of technologies for controlling control targets using a PLC (Programmable Logic Controller) has been actively promoted. For example, Patent Document 1 discloses a control device including a PLC engine that cyclically executes a program including sequence instructions, a robot control engine for controlling a robot, an image processing engine that executes image processing on an image from a camera, and a simulation module that is constructed according to user settings and simulates at least a part of the control target, the robot, and the camera.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the invention according to Patent Document 1 has a problem in that it takes time to respond to the addition or change of operations in each control target.

[0005] In one aspect, it is an object to provide an information processing method or the like capable of outputting control commands to each control target using a sequence file that facilitates the addition or change of operations.

Means for Solving the Problems

[0006] An information processing method according to one aspect is characterized in that a PLC acquires a sequence file that defines instruction information including a control command, a control target, and parameters specifying control content for the control target in chronological order, and the PLC executes a process of outputting control commands corresponding to the control command and the parameters for each control target in the order of the instruction information in the acquired sequence file.

Advantages of the Invention

[0007] In one aspect, it becomes possible to output control commands to each control target by using a sequence file that facilitates the addition or change of operations.

Brief Description of the Drawings

[0008]

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Mode for Carrying Out the Invention

[0009] Hereinafter, the present invention will be described in detail based on the drawings showing its embodiments.

[0010] (Embodiment 1) Embodiment 1 relates to a form of outputting control commands for each control target. The control target will be described later. FIG. 1 is an explanatory diagram showing an overview of an operation instruction type system. The system of this embodiment includes a PLC (Programmable Logic Controller) device 1, a robot unit 2, a hand unit 3, and an imaging device 4, and each device transmits and receives information via a network N such as the Internet, a wired or wireless LAN (Local Area Network).

[0011] The PLC device 1 is a device for performing sequence control of a control target by a dedicated computer. The control target is a manufacturing facility such as a robot unit 2, a hand unit 3, an imaging device 4, or various sensors (for example, a weight measurement sensor). Note that the control target may be, for example, various facilities such as an inspection facility or a conveyance facility, or various sensors for measuring the states of various facilities.

[0012] Sequence control is a control method in which each stage of control is sequentially advanced for a control target according to a predetermined order or procedure. By performing sequence control, the control target can be operated according to a determined order or procedure.

[0013] Note that the PLC device 1 in this embodiment is a device that performs processing such as acquiring a sequence file and outputting control commands to each control target in accordance with the instruction information order in the sequence file. The sequence file will be described later. Note that, instead of the PLC device, for example, an information processing terminal such as a tablet or a personal computer may be used.

[0014] The robot unit 2 is an industrial robot or a cobot used at the manufacturing site. The types of the robot unit 2 include an articulated robot (robot arm), a horizontal articulated robot, a parallel link robot, or an orthogonal robot, etc. Note that the types of the robot unit 2 are not limited to the types described above, and may include, for example, a polar coordinate robot, a cylindrical coordinate robot, a rectangular coordinate robot, or a single-axis motor control, etc.

[0015] The hand unit 3 is an end effector (device) attached to the tip of the robot body 21 (see FIG. 3). The imaging device 4 is an imaging device such as a CCD (Charge Coupled Device) camera or a CMOS (Complementary Metal Oxide Semiconductor) camera, and is equipped with a three-dimensional image recognition system with an optical irradiation device. The imaging device 4 uses image processing technology to irradiate an object (such as a casting part, ore, or cardboard case) with light, and performs recognition processing on the shape, size, or three-dimensional position information (such as XYZ coordinates) of the object.

[0016] Conventionally, in a control system, when adding or changing operations between each control target, a design change is required each time according to the complexity of the function specifications (such as the definition of the synchronization signal or the synchronization method). Along with the design change, it is necessary to modify the program, etc. Modifying the program, etc. requires a great deal of effort for specifying the modification location, coding, testing, or debugging, etc. Also, when modifying a certain program, it may be necessary to modify other programs that are linked.

[0017] In this embodiment, the operation sequence is defined in the sequence file, and the operations can be controlled between each control target in the order of the instruction information in the sequence file. By using the sequence file, it is not necessary to modify the program, etc., so it is possible to add or change operations without programming. Therefore, it is possible to shorten the design time in the control system and improve the quality of the entire system.

[0018] Figure 2 is a block diagram showing a configuration example of the PLC device 1. The PLC device 1 includes a control unit 11, a storage unit 12, a communication unit 13, an input unit 14, and a display unit 15. Each component is connected by a bus B.

[0019] The control unit 11 includes an arithmetic processing device such as a CPU (Central Processing Unit), an MPU (Micro-Processing Unit), or a GPU (Graphics Processing Unit). The control unit 11 reads and executes a control program 1P (program product) stored in the storage unit 12 to perform various information processing and control processing related to the PLC device 1.

[0020] The storage unit 12 includes memory elements such as a RAM (Random Access Memory) and a ROM (Read Only Memory), and stores a control program 1P or data necessary for the control unit 11 to execute processing. The storage unit 12 also temporarily stores data necessary for the control unit 11 to execute arithmetic processing. Furthermore, the storage unit 12 stores a single or multiple sequence files 1F. The details of the sequence file 1F will be described later.

[0021] The communication unit 13 is a communication module for performing communication-related processing, and transmits and receives information to and from each control target (such as the robot unit 2, the hand unit 3, or the imaging device 4) via the network N. The input unit 14 may be a keyboard, a mouse, or a touch panel integrated with the display unit 15. The display unit 15 is a liquid crystal display or an organic EL (electroluminescence) display, etc., and displays various information according to the instructions of the control unit 11.

[0022] Figure 3 is a block diagram showing a configuration example of the robot unit 2 and the hand unit 3. The robot unit 2 includes a robot body 21, a controller 22, etc. The robot body 21 has a shape like a human arm and is a robot body that operates with a multi-joint structure and servo motors. The movable range changes according to the number of joints (axis number) of the robot body 21.

[0023] The controller 22 is a control device in which a servo amplifier, a substrate, etc. are housed, and comprehensively controls (controls) the movement of the robot body 21. The controller 22 includes a control unit 221, a storage unit 222, and a communication unit 223.

[0024] The control unit 221 includes an arithmetic processing device such as a CPU, MPU, or GPU. The control unit 221 reads and executes the control program 2P (program product) stored in the storage unit 222 to perform various information processing and control processing related to the controller 22.

[0025] The storage unit 222 includes memory elements such as RAM and ROM, and stores the control program 2P or data necessary for the control unit 221 to execute processing. Also, the storage unit 222 temporarily stores data necessary for the control unit 221 to execute arithmetic processing. The communication unit 223 is a communication module for performing communication-related processing, and transmits and receives information to and from the PLC device 1 etc. via the network N.

[0026] A hand unit 3 is attached to the tip of the robot body 21. The robot body 21 moves the joints with the force of the servo motors and moves the hand unit 3 to the target position while moving the arm part (link).

[0027] The hand unit 3 includes a hand body 31 and one or more sensors. The sensor is, for example, a weight measurement sensor 32. The weight measurement sensor 32 is a sensor for detecting weight. Note that the sensor is not limited to the weight measurement sensor 32, and may be other types of sensors such as a temperature sensor, a humidity sensor, an acceleration sensor, a force sensor, or a three-dimensional vision sensor. The force sensor is a sensor for measuring the magnitude and direction of force or moment. The three-dimensional vision sensor is a sensor for measuring (recognizing) an object in a three-dimensional space.

[0028] The hand body 31 is a device that can simulate the movement of an operator's hand to perform operations such as picking, transporting, assembling, grasping, processing, screwing, or painting on an object. By replacing the hand unit 3 attached to the tip of the robot body 21, it is possible to handle various operations.

[0029] For example, it is possible to automate operations such as depalletizing (unloading) of an object (e.g., a material bag), palletizing (loading) of an object (e.g., a cardboard case or a plastic container), picking of an object (e.g., a casting part, a washing machine, an outdoor unit, an ore, or a bag), transporting of machine parts, handling of plated parts, piece picking of products, assembly of electronic device harnesses, or position correction during assembly.

[0030] Subsequently, a process of outputting a control command to each control target by the PLC device 1 in the order of the instruction information in the sequence file 1F will be described. The PLC device 1 acquires the sequence file 1F and stores the acquired sequence file 1F in the storage unit 12. For example, the PLC device 1 receives an input of instruction information in the sequence file 1F by the user via the input unit 14 and generates the sequence file 1F based on the received instruction information. Note that the PLC device 1 may acquire the sequence file 1F created by an external information processing terminal via the communication unit 13.

[0031] FIG. 4 is an explanatory diagram showing an example of the sequence file 1F. The sequence file 1F is a file that defines, in chronological order, instruction information including a control command, a control target, and parameters specifying control contents for the control target.

[0032] The PLC device 1 accepts setting of a combination of a control command and a control target. The PLC device 1 accepts setting of a plurality of parameters including a first parameter and a second parameter for a single combination of a control command and a control target. The PLC device 1 generates the sequence file 1F based on the received control command, control target, first parameter, and second parameter, and stores it in the storage unit 12.

[0033] In FIG. 4, examples of the first parameter and the second parameter are described, but the same can be similarly applied to three or more parameters.

[0034] As shown in the figure, the sequence file 1F is composed of instruction information 11a shown in a format of a plurality of lines. Each instruction information 11a includes a line 11b, a control command 11c, a control target 11d, a first parameter 11e, and a second parameter 11f.

[0035] The line 11b stores the chronological order of the control commands. The control command 11c stores the control command. The control target 11d stores the control target (such as the robot unit 2, the hand unit 3, the imaging device 4, or the weighing sensor 32, etc.). The first parameter 11e stores the first parameter specifying the control contents for the control target 11d. The second parameter 11f stores the second parameter specifying the control contents for the control target 11d.

[0036] The PLC device 1 acquires the sequence file 1F stored in the storage unit 12. The PLC device 1 outputs (transmits) control commands corresponding to the control commands 11c and parameters (for example, the first parameter 11e and the second parameter 11f) to each control target 11d in the order of line 11b (time series) within the acquired sequence file 1F.

[0037] The control targets 11d include "ROBO_CTRL", "SCAN_3D", "FORCE_CTRL", etc. "ROBO_CTRL" indicates the robot unit 2, "SCAN_3D" indicates the imaging device 4, and "FORCE_CTRL" indicates the weighing sensor 32 mounted on the hand unit 3.

[0038] The control commands 11c include "MODULE_CTRL", "MODULE_WAIT", etc. "MODULE_CTRL" is a command to execute an operation by the control target. "MODULE_WAIT" is a command to wait for the execution of the operation by the previous control command for the set waiting time. The waiting time may be, for example, in milliseconds. The parameters include the first parameter 11e, the second parameter 11f, or both the first parameter 11e and the second parameter 11f.

[0039] As shown in the figure, the PLC device 1 transmits control commands to each of the robot unit 2, the imaging device 4, and the weighing sensor 32 in the order of line 11b. Specifically, first, the PLC device 1 transmits a control command ("move to the scan position") to the robot unit 2. Next, the PLC device 1 transmits a control command ("start scan") to the imaging device 4. Next, the PLC device 1 transmits a control command ("start 3D calculation") to the imaging device 4.

[0040] Next, the PLC device 1 sends a control command ("weight reference value acquisition") to the weighing sensor 32. Next, the PLC device 1 sends a control command ("move to the pick preparation position") to the robot unit 2. Next, the PLC device 1 sends a control command ("pick execution") to the robot unit 2. Finally, the PLC device 1 sends a control command ("weight measurement start") to the weighing sensor 32.

[0041] Note that after the PLC device 1 sends a control command to each control target 11d, it sends a control command ("wait") for waiting for the operation execution to each control target 11d. The control command includes the waiting time until the completion of the operation by the previous control command (for example, 10,000 milliseconds).

[0042] Each control target 11d executes the corresponding operation according to the control command sent from the PLC device 1. Specifically, each control target 11d executes the corresponding operation based on the control command 11c, the first parameter 11e, and the second parameter 11f included in the control command. Each control target 11d sends an operation completion notification including a return value to the PLC device 1. The return value may be a single or multiple return values. Note that the return value will be described later.

[0043] FIG. 5 is an explanatory diagram for explaining an example of the first parameter 11e. The first parameter 11e is provided according to the control command 11c. The screen includes a return value 11g. The return value 11g stores the return value corresponding to each control command 11c (for example, "0 (normal completion)").

[0044] As shown in the figure, for example, the control command 11c includes "ROBO_CTRL", "SCAN_3D", and "FORCE_CTRL", and different first parameters 11e and return values 11g are set according to each control command 11c.

[0045] The first parameter 11e corresponding to the control command 11c which is "ROBO_CTRL" includes "No processing request (0)", "Initialization (1)", "Job execution (2)", "Move P (3)", and "Move L (4)".

[0046] The first parameter 11e corresponding to the control command 11c which is "SCAN_3D" includes "No processing request (0)", "Initialization (1)", "Notification of the number of reached points (2)", "Scan (3)", "3D calculation (4)", "Scan classification (5)", and "Height calculation (6)".

[0047] The first parameter 11e corresponding to the control command 11c which is "FORCE_CTRL" includes "No processing request (0)", "Initialization (1)", "Acquisition of weight standard (2)", "Weight classification (3)", "End of monitoring (9)", and "End of App (100)".

[0048] Note that each of the above-described first parameters 11e is an example, and any first parameter 11e may be set according to the actual situation.

[0049] FIG. 6 is an explanatory diagram for explaining an example of the second parameter 11f. Note that FIG. 6 explains an example in which the second parameter 11f is the position information of the destination, but the same can be similarly applied to other types of second parameters 11f.

[0050] The said screen includes a position information list 11h, a second parameter name input field 11i, and a coordinate information input field 11j. The position information list 11h is a list that displays position information including the number and name of the second parameter 11f indicating each position. The second parameter name input field 11i is a field that accepts the input of the name of the second parameter. The coordinate information input field 11j is a field that accepts the input of the coordinate information of the position including the coordinates (X, Y, Z) in the three-dimensional space and the rotation angles (RX, RY, RZ) of each coordinate axis.

[0051] When the PLC device 1 receives a touch (click) operation on a position included in the position information list 11h, it receives the input of the name of the second parameter 11f corresponding to the corresponding position through the second parameter name input field 11i, and receives the input of the coordinate information of the position through the coordinate information input field 11j.

[0052] As shown in the figure, for the second parameter 11f with the number "2", the name of the second parameter 11f is "Cage Scan Position", the coordinates (X, Y, Z) are (-413.339, -322.205, 519.848), and the rotation angles (RX, RY, RZ) are (179.205, 0.200, -90.061).

[0053] Based on the name and coordinate information of the second parameter 11f corresponding to each received position, the PLC device 1 creates a position information list and stores it in the storage unit 12. Note that the position information list may be created by an external information processing terminal. In this case, the PLC device 1 acquires a pre-created position information list from the external information processing terminal.

[0054] Returning to the explanation in FIG. 4, taking the sequence file 1F shown in FIG. 4 as an example, the process of outputting control commands to each control target will be described.

[0055] First, the PLC device 1 reads out the instruction information corresponding to the line number "0" from the sequence file 1F. According to the read instruction information, the PLC device 1 sends a control command ("Move to Scan Position") to the robot unit 2. The control command includes a control command "MODULE_CTRL", a first parameter "Move P(3)", and a second parameter "Move to Cage Scan Position(2)".

[0056] The controller 22 of the robot unit 2 acquires the coordinate information of the destination (e.g., the position of the cage scan) of the robot unit 2 corresponding to the number (e.g., 2) specified by the second parameter from the pre-registered position information list according to the control command transmitted from the PLC device 1. Based on the acquired coordinate information, the controller 22 moves to the position of the cage scan.

[0057] Next, the PLC device 1 moves to the next line and reads out the instruction information corresponding to the line number "1" from the sequence file 1F. The PLC device 1 transmits a control command ("wait") to the controller 22 of the robot unit 2 according to the read instruction information. The control command includes a control command "MODULE_WAIT" and a second parameter which is the waiting time (e.g., 10,000 milliseconds).

[0058] The controller 22 of the robot unit 2 receives the control command transmitted from the PLC device 1. The controller 22 performs a waiting process for the waiting time specified by the second parameter according to the received control command.

[0059] Next, the PLC device 1 moves to the next line and reads out the instruction information corresponding to the line number "2" from the sequence file 1F. The PLC device 1 transmits a control command ("scan start") to the imaging device 4 according to the read instruction information. The control command includes a control command "MODULE_CTRL" and a first parameter which is "scan (3)".

[0060] The imaging device 4 scans (images) the object (e.g., the cage) according to the control command transmitted from the PLC device 1 and acquires the scanned object image and distance image. The distance image is an image having a value corresponding to the distance to the object represented by each pixel for each pixel.

[0061] Next, the PLC device 1 moves to the next line and reads out the instruction information corresponding to the line number "3" from the sequence file 1F. The PLC device 1 sends a control command ("Wait") to the imaging device 4 according to the read instruction information. Note that the processing of the control command ("Wait") is the same as the above-described processing, so the description is omitted.

[0062] Next, the PLC device 1 moves to the next line and reads out the instruction information corresponding to the line number "4" from the sequence file 1F. The PLC device 1 sends a control command ("3D Calculation Start") to the imaging device 4 according to the read instruction information. The control command includes a control command "MODULE_CTRL" and a first parameter "3D Calculation (4)".

[0063] The imaging device 4 calculates the picking coordinates using the 3D image recognition system mounted on the imaging device 4 based on the scanned object image and distance image according to the control command sent from the PLC device 1. The imaging device 4 sends the calculated picking coordinates to the robot unit 2.

[0064] Next, the PLC device 1 moves to the next line and reads out the instruction information corresponding to the line number "5" from the sequence file 1F. The PLC device 1 sends a control command ("Wait") to the imaging device 4 according to the read instruction information. Note that the processing of the control command ("Wait") is the same as the above-described processing, so the description is omitted.

[0065] Next, the PLC device 1 moves to the next line and reads out the instruction information corresponding to the line number "6" from the sequence file 1F. The PLC device 1 sends a control command ("Weight Reference Value Acquisition") to the weight measurement sensor 32 according to the read instruction information. The control command includes a control command "MODULE_CTRL" and a first parameter "Weight Reference Value Acquisition (2)".

[0066] The weight measurement sensor 32 acquires a preset weight reference value according to the control command transmitted from the PLC device 1. Note that the weight reference value may be prestored in the storage unit of the weight measurement sensor 32.

[0067] Next, the PLC device 1 moves to the next line and reads the instruction information corresponding to the line number "7" from the sequence file 1F. The PLC device 1 transmits a control command ("Wait") to the weight measurement sensor 32 according to the read instruction information. Note that since the processing of the control command ("Wait") is the same as the above-described processing, the description is omitted.

[0068] Next, the PLC device 1 moves to the next line and reads the instruction information corresponding to the line number "8" from the sequence file 1F. The PLC device 1 transmits a control command ("Move to pick-up preparation position") to the controller 22 of the robot unit 2 according to the read instruction information. The control command includes a control command "MODULE_CTRL", a first parameter "Move P(3)", and a second parameter "Move to pick-up preparation position(3)".

[0069] The controller 22 of the robot unit 2 acquires the coordinate information of the movement destination (e.g., pick-up preparation position) of the controller 22 corresponding to the number (e.g., 3) specified by the second parameter from the pre-registered position information list according to the control command transmitted from the PLC device 1. The controller 22 moves to the pick-up preparation position based on the acquired coordinate information.

[0070] Next, the PLC device 1 moves to the next line and reads the instruction information corresponding to the line number "9" from the sequence file 1F. The PLC device 1 transmits a control command ("Wait") to the controller 22 of the robot unit 2 according to the read instruction information. Note that since the processing of the control command ("Wait") is the same as the above-described processing, the description is omitted.

[0071] Next, the PLC device 1 moves to the next line and reads the instruction information corresponding to the line number "10" from the sequence file 1F. The PLC device 1 sends a control command ("Pick and Place Execution") to the controller 22 of the robot unit 2 according to the read instruction information. The control command includes a control command "MODULE_CTRL", a first parameter "Job Execution (2)", and a second parameter "Pick and Place Job (5)".

[0072] The controller 22 of the robot unit 2 executes a job (Pick and Place operation) corresponding to the number (for example, 5) specified by the second parameter according to the control command sent from the PLC device 1. Note that the content of each job (operation) may be provided in advance.

[0073] Next, the PLC device 1 moves to the next line and reads the instruction information corresponding to the line number "11" from the sequence file 1F. The PLC device 1 sends a control command ("Wait") to the controller 22 of the robot unit 2 according to the read instruction information. Note that the description of the processing of the control command ("Wait") is the same as the above-described processing, so the description is omitted.

[0074] Next, the PLC device 1 moves to the next line and reads the instruction information corresponding to the line number "12" from the sequence file 1F. The PLC device 1 sends a control command ("Weight Measurement Start") to the weight measurement sensor 32 according to the read instruction information. The control command includes a control command "MODULE_CTRL" and a first parameter "Weight Classification (3)".

[0075] The weight measurement sensor 32 acquires a sensor value according to the control command sent from the PLC device 1. The weight measurement sensor 32 calculates the difference between the acquired sensor value and the reference value of the weight. The weight measurement sensor 32 calculates and classifies the weight of the object based on the calculated difference.

[0076] Finally, the PLC device 1 moves to the next line and reads the instruction information corresponding to the line number "13" from the sequence file 1F. The PLC device 1 transmits a control command ("wait") to the weighing sensor 32 according to the read instruction information. Note that since the processing of the control command ("wait") is the same as the above-described processing, the description is omitted.

[0077] By the above-described processing, the PLC device 1 can output control commands corresponding to the control commands and parameters for each control target in the order of the instruction information in the sequence file 1F.

[0078] FIG. 7 is a flowchart showing a processing procedure when generating the sequence file 1F. The control unit 11 of the PLC device 1 receives, in chronological order, settings of combinations of control commands and control targets for each control target (such as the robot unit 2, the hand unit 3, the imaging device 4, or the weighing sensor 32) by the input unit 14 (step S101).

[0079] The control unit 11 receives, by the input unit 14, settings of one or more parameters for specifying the control content for the control target for each received combination of the control command and the control target (step S102). The control unit 11 generates the sequence file 1F in chronological order with respect to the received instruction information including the control command, the control target, and the parameters (step S103). The control unit 11 stores the generated sequence file 1F in the storage unit 12 (step S104). The control unit 11 ends the processing.

[0080] Note that in the above-described processing, the settings of the combination of the control command and the control target and the parameters are received separately, but this is not restrictive. For example, in chronological order, for each control target, settings of combinations of the control command, the control target, and the parameters may be received.

[0081] FIG. 8 is a flowchart showing a processing procedure when outputting a control command for each control target. The control unit 11 of the PLC device 1 acquires the sequence file 1F from the storage unit 12 (step S111). The control unit 11 reads out one piece of instruction information from the acquired sequence file 1F in chronological order (step S112). The instruction information includes a control command, a control target, and single or multiple parameters, etc.

[0082] Based on the read instruction information, the control unit 11 identifies control targets such as the robot unit 2, the hand unit 3, the imaging device 4, or the weighing sensor 32 (step S113). The control unit 11 transmits, via the communication unit 13, a control command corresponding to the control command and parameters included in the instruction information to the identified control target (step S114).

[0083] In the following, an example where the control target is the robot unit 2 will be described, but it can be similarly applied to other types of control targets.

[0084] The control unit 221 of the controller 22 of the robot unit 2 receives the control command transmitted from the PLC device 1 via the communication unit 223 (step S911). The control unit 221 of the controller 22 executes an operation (for example, movement to a specified position) according to the received control command (step S912).

[0085] The control unit 221 of the controller 22 transmits a completion notification of the execution of the operation to the PLC device 1 via the communication unit 223 (step S913). The control unit 11 of the PLC device 1 receives the completion notification of the execution of the operation transmitted from the robot unit 2 via the communication unit 13 (step S115).

[0086] The control unit 11 determines whether the instruction information is the last instruction information among the plurality of instruction information in the sequence file 1F (step S116). When the instruction information is the last instruction information (YES in step S116), the control unit 11 ends the process. When the instruction information is not the last instruction information (NO in step S116), the control unit 11 returns to the process of step S112.

[0087] Note that not limited to a single sequence file, a plurality of sequence files can be used to control each control target in parallel. Specifically, the PLC device 1 reads a plurality of sequence files 1F from the storage unit 12. For example, the PLC device 1 reads the first sequence file 1F and the second sequence file 1F. The PLC device 1 outputs control commands to each control target in the order of the instruction information in the read first sequence file 1F, and at the same time, outputs control commands to each control target in the order of the instruction information in the read second sequence file 1F.

[0088] For example, the first sequence file 1F is a sequence file for controlling the first control target. The first control target includes the first robot unit 2, the first imaging device 4, and the first weight measurement sensor 32. The second sequence file 1F is a sequence file for controlling a second control target different from the first control target. The second control target includes the second robot unit 2, the second imaging device 4, and the second weight measurement sensor 32.

[0089] The PLC device 1 reads the first sequence file 1F and the second sequence file 1F. The PLC device 1 outputs control commands including, for example, "move to the scan position" to the first robot unit 2, "start scan" to the first imaging device 4, "move to the pick preparation position" to the first robot unit 2, "execute picking" to the first robot unit 2, and "start weight measurement" to the first weight measurement sensor 32, etc. to each first control target in the order of the instruction information in the read first sequence file 1F.

[0090] The PLC device 1 outputs control commands to each first control target by means of the first sequence file 1F, and at the same time outputs control commands to each second control target by means of the second sequence file 1F.

[0091] Specifically, the PLC device 1 outputs control commands including, for example, "scan classification" to the second imaging device 4, "scan start" to the second imaging device 4, "move to pick-up preparation position" to the second robot unit 2, "pick-up execution" to the second robot unit 2, and "weight measurement start" to the second weight measurement sensor 32, etc. to each second control target in the order of the instruction information in the read second sequence file 1F.

[0092] In this way, by using the first sequence file 1F and the second sequence file 1F, the first control target and the second control target can be controlled in parallel. Note that in the above-described processing, examples of two sequence files 1F were described, but it is not limited thereto. When three or more sequence files 1F are prepared, parallel processing can be performed for many control targets.

[0093] Note that by using a plurality of sequence files 1F (for example, the first sequence file 1F and the second sequence file 1F), the same control target can be controlled in parallel. The control target may be, for example, the first control target. In this case, each of the first sequence file 1F and the second sequence file 1F defines different control commands for the first robot unit 2, the first imaging device 4, and the first weight measurement sensor 32 included in the first control target.

[0094] For example, the PLC device 1 may output a control command (for example, "move to scan position") to the first robot unit 2 included in the first control target by means of the first sequence file 1F, and at the same time output a control command (for example, "acquire weight reference value") to the first weight measurement sensor 32 included in the first control target by means of the second sequence file 1F.

[0095] According to this embodiment, control commands can be output for each control target in the order of the instruction information in the sequence file 1F.

[0096] According to this embodiment, it is possible to receive settings of a plurality of parameters including a first parameter and a second parameter for a combination of a single control command and a control target.

[0097] According to this embodiment, by using the sequence file 1F, it is possible to realize addition or change of operations for each control target without programming.

[0098] (Embodiment 2) Embodiment 2 relates to a form of receiving settings of a plurality of parameters and return values for each control target. Note that descriptions of contents overlapping with Embodiment 1 are omitted.

[0099] The PLC device 1 receives settings of a plurality of parameters and return values for the control target with respect to the instruction information in the sequence file 1F. Note that since the setting process of the plurality of parameters is the same as that in Embodiment 1, the description is omitted. The PLC device 1 receives settings of instruction information corresponding to each return value after the instruction information according to the received plurality of return values.

[0100] FIG. 9 is an explanatory diagram showing an example of a screen for receiving settings of a plurality of parameters and return values for each control target. FIG. 9A is an explanatory diagram showing a first example of setting reception. FIG. 9B is an explanatory diagram showing a second example of setting reception. Note that descriptions of contents overlapping with FIG. 4 are denoted by the same reference numerals and omitted.

[0101] For example, by using a branch processing control command 11c including "SWITCH_GOTO", "CASE", and "SWITCH_END", settings of a plurality of return values may be received. A plurality of control commands 11c of "CASE" for performing branch processing are set between the control command 11c of "SWITCH_GOTO" and the control command 11c of "SWITCH_END".

[0102] Regarding the setting process, for example, the PLC device 1 receives the setting of a control target 11d (for example, the imaging device 4) corresponding to a control command 11c which is "SWITCH_GOTO". The PLC device 1 receives the setting of a plurality of return values and parameters corresponding to the control command 11c which is "CASE". In the examples of FIGS. 9A and 9B, the setting of the return value is received by the control target 11d.

[0103] As shown in FIG. 9A, the control target 11d corresponding to the control command 11c which is "SWITCH_GOTO" is set to "SCAN_3D". When the return value corresponding to the control command 11c which is "CASE" is "-1", "MAIN" is set to the first parameter 11e and "MAIN_ERROR_END" is set to the second parameter 11f. Also, when the return value corresponding to the control command 11c which is "CASE" is "0", "MAIN" is set to the first parameter 11e and "MAIN_NORMAL_END" is set to the second parameter 11f.

[0104] When the PLC device 1 reads out instruction information including the control command 11c which is "SWITCH_GOTO" and the control target 11d which is "SCAN_3D" (for example, the imaging device 4) from the sequence file 1F, based on the read instruction information, it sends a control command to the imaging device 4.

[0105] The imaging device 4 receives the control command sent from the PLC device 1. The imaging device 4 executes an operation (for example, imaging) according to the received control command. The imaging device 4 sends a return value indicating the result of the executed operation to the PLC device 1.

[0106] The PLC device 1 receives the return value transmitted from the imaging device 4. The PLC device 1 reads out the instruction information corresponding to a plurality of "CASE" settings between "SWITCH_GOTO" and "SWITCH_END" from the sequence file 1F. The PLC device 1 selects (identifies) the corresponding instruction information from the read-out plurality of instruction information based on the received return value.

[0107] For example, when the return value received by the PLC device 1 is "-1", the PLC device 1 selects the instruction information including the first parameter 11e which is "MAIN" and the second parameter 11f which is "MAIN_ERROR_END". "MAIN_ERROR_END" is a control command for ending the process after performing error processing. The PLC device 1 abnormally terminates the process based on the selected instruction information. In this case, the PLC device 1 may display a message indicating abnormal termination on the screen.

[0108] Or, when the return value received by the PLC device 1 is "0", the PLC device 1 selects the instruction information including the first parameter 11e which is "MAIN" and the second parameter 11f which is "MAIN_NORMAL_END". "MAIN_NORMAL_END" is a control command for normally ending the process. The PLC device 1 normally ends the process based on the selected instruction information.

[0109] As shown in FIG. 9B, the control target 11d corresponding to the control command 11c which is "SWITCH_GOTO" is set to "ROBO_CTRL". When the return value corresponding to the control command 11c which is "CASE" is "-1", "CURRENT" is set to the first parameter 11e and "PICK_MAIN_RESCAN" is set to the second parameter 11f. "PICK_MAIN_RESCAN" is a control command for moving to the scan position and performing rescan processing.

[0110] When the PLC device 1 reads instruction information including a control command 11c which is "SWITCH_GOTO" and a control target 11d which is "ROBO_CTRL" (for example, the hand unit 3) from the sequence file 1F, it transmits a control command to the hand unit 3 based on the read instruction information.

[0111] The hand unit 3 receives the control command transmitted from the PLC device 1. The hand unit 3 executes an operation (for example, adsorption) according to the received control command. The hand unit 3 transmits a return value indicating the result of the executed operation to the PLC device 1.

[0112] The PLC device 1 receives the return value transmitted from the hand unit 3. The PLC device 1 reads instruction information corresponding to a plurality of "CASE" set between "SWITCH_GOTO" and "SWITCH_END" from the sequence file 1F. The PLC device 1 selects the corresponding instruction information from the read plurality of instruction information based on the received return value. The PLC device 1 sequentially outputs control commands corresponding to the control commands and parameters to each control target from the selected instruction information.

[0113] For example, when the received return value of the PLC device 1 is "-1", it selects instruction information including a first parameter 11e which is "CURRENT" and a second parameter 11f which is "PICK_MAIN_RESCAN". The PLC device 1 sequentially outputs control commands to each control target from the instruction information including the control command which is "PICK_MAIN_RESCAN" based on the selected instruction information. That is, the PLC device 1 outputs control commands to each control target in the order of the instruction information corresponding to the line numbers "32" to "35" after the instruction information including the control command which is "PICK_MAIN_RESCAN".

[0114] In addition, in FIG. 9, although examples of two return values are described, the present invention is not limited thereto, and it can be similarly applied to a single return value or three or more return values.

[0115] Figure 10 is a flowchart showing the processing procedure for generating the sequence file 1F in Embodiment 2. Regarding the content overlapping with FIG. 7, the same reference numerals are given and the description is omitted. The control unit 11 of the PLC device 1 receives, via the input unit 14, the setting of a plurality of parameters and return values for each control target (step S105).

[0116] For each control target, the control unit 11 receives, via the input unit 14, the setting of the instruction information corresponding to each return value after the instruction information according to the plurality of return values for the control target in the instruction information (step S106). The control unit 11 executes the processing after step S103.

[0117] Figure 11 is a flowchart showing the processing procedure for outputting a control command for each control target in Embodiment 2. Regarding the content overlapping with FIG. 8, the same reference numerals are given and the description is omitted. After executing the processing of step S112, the control unit 11 of the PLC device 1 determines whether it is a branch process based on the control command included in the read instruction information (step S121). For example, when the control command is "SWITCH_GOTO", the control unit 11 may determine that it is a branch process.

[0118] When it is not a branch process (NO in step S121), the control unit 11 executes the processing of step S113. When it is a branch process (YES in step S121), the control unit 11 executes a subroutine of the branch process (step S122). The subroutine of the branch process will be described later. The control unit 11 transitions to the processing after step S113.

[0119] Figure 12 is a flowchart showing the processing procedure of the subroutine of the branch process. The control unit 11 of the PLC device 1 reads a plurality of target instruction information from the sequence file 1F in the storage unit 12 (step S01). For example, the control unit 11 reads a plurality of instruction information from the control command of "SWITCH_GOTO" to the control command of "SWITCH_END" from the sequence file 1F.

[0120] Based on the control target included in the read instruction information, the control unit 11 identifies the corresponding control target (step S02). The control unit 11 transmits, via the communication unit 13, a control command corresponding to the control command and parameters included in the instruction information to the identified control target (step S03).

[0121] In the following, an example where the control target is the imaging device 4 will be described, but the same can be similarly applied to other types of control targets.

[0122] The imaging device 4 receives the control command transmitted from the PLC device 1 (step S11). The imaging device 4 executes an operation (for example, imaging) according to the received control command (step S12). The imaging device 4 transmits a notification of completion of operation execution to the PLC device 1 (step S13). The control unit 11 of the PLC device 1 receives, via the communication unit 13, the notification of completion of operation execution transmitted from the imaging device 4 (step S04).

[0123] The control unit 11 obtains a return value from the received notification of completion of operation execution (step S05). The control unit 11 selects instruction information corresponding to the obtained return value (step S06). For example, the control unit 11 identifies the "CASE" that is the same as the obtained return value from the return values corresponding to a plurality of "CASEs" for performing branch processing between "SWITCH_GOTO" and "SWITCH_END". The control unit 11 selects the corresponding instruction information according to the first parameter and the second parameter included in the instruction information corresponding to the identified "CASE" after the corresponding instruction information.

[0124] The control unit 11 reads the selected instruction information from the sequence file 1F (step S07). The control unit 11 ends the subroutine of the branch processing and returns.

[0125] According to this embodiment, it is possible to accept settings of a plurality of parameters and return values for each control target.

[0126] According to this embodiment, by setting a plurality of return values for each control target, it becomes possible to easily perform branch processing.

[0127] According to this embodiment, it becomes possible to select instruction information corresponding to the return value and sequentially output control commands to each control target from the selected instruction information.

[0128] (Embodiment 3) Embodiment 3 relates to a form of accepting corrections to the instruction information in the sequence file 1F. Note that descriptions of content overlapping with Embodiments 1 to 2 are omitted.

[0129] FIG. 13 is a block diagram showing a configuration example of the PLC device 1 in Embodiment 3. Note that for content overlapping with FIG. 2, the same reference numerals are given and the description is omitted. A correction history DB (database) 121 is stored in the storage unit 12. The correction history DB 121 stores the correction history of the sequence file.

[0130] FIG. 14 is an explanatory diagram showing an example of the record layout of the correction history DB 121. The correction history DB 121 includes a sequence file name column, a correction instruction information column, and a correction date and time column. The sequence file name column stores the name of the sequence file 1F. The correction instruction information column stores the correction instruction information (correction location) corrected for the instruction information of the sequence file 1F. The correction date and time column stores the correction date and time information of the sequence file 1F.

[0131] FIG. 15 is a flowchart showing the processing procedure when accepting corrections to the instruction information in the sequence file 1F. The control unit 11 of the PLC device 1 reads out the sequence file 1F stored in the storage unit 12 (step S131). The control unit 11 displays the instruction information in the read sequence file 1F on the display unit 15 (step S132).

[0132] The control unit 11 receives, via the input unit 14, the corrected correction instruction information for the instruction information in the sequence file 1F (step S133). The control unit 11 generates a new sequence file 1F based on the sequence file 1F including the received correction instruction information (step S134). The control unit 11 stores the generated sequence file in the storage unit 12 (step S135).

[0133] The control unit 11 stores the correction history of the sequence file 1F in the correction history DB121 of the storage unit 12 (step S136) and ends the process. Specifically, the control unit 11 stores the file name, correction instruction information, and correction date and time of the sequence file 1F in the correction history DB121 of the storage unit 12 as one record.

[0134] Note that the control unit 11 outputs control commands and control instructions corresponding to parameters to each control target in the same manner as the processing in Embodiment 1 using the corrected sequence file 1F.

[0135] Subsequently, the process of acquiring and displaying the correction history of the sequence file 1F will be described. When the correction process for the sequence file 1F is performed, since the corrected sequence file 1F is stored in the storage unit 12, the correction history data of the sequence file 1F can be accumulated. In addition, the correction history of the sequence file 1F can be visualized, and the corrected correction instruction information for the sequence file 1F can be displayed (output) in a form different from other instruction information.

[0136] Specifically, the PLC device 1 acquires the correction history of the sequence file 1F from the correction history DB121. The correction history includes the file name, correction instruction information, correction date and time, etc. of the sequence file 1F. Based on the file name of each sequence file 1F included in the acquired correction history, the PLC device 1 acquires, from the storage unit 12, for example, the first sequence file 1F (the sequence file 1F before correction) and the second sequence file 1F (the sequence file 1F after correction) including the correction instruction information corrected for the instruction information of the first sequence file 1F.

[0137] The PLC device 1 displays on the screen the modification history including the acquired first sequence file 1F and second sequence file 1F. Note that when outputting the modified sequence file 1F, the PLC device 1 displays the modified modification instruction information on the screen in a form different from other instruction information. The display form will be described later.

[0138] Here, examples of the first sequence file 1F and the second sequence file 1F have been described, but the number of sequence files 1F included in the modification history is not particularly limited.

[0139] FIG. 16 is an explanatory diagram showing an example of a modification history screen of the sequence file 1F. The screen includes a modification history display column 12a. The modification history display column 12a is a display column for displaying the modification history of the sequence file 1F. The modification history display column 12a includes a thumbnail display column 12b, a detailed information display column 12c, a display button 12d, and a use button 12e.

[0140] The thumbnail display column 12b is a display column for displaying the thumbnail of the sequence file 1F. The detailed information display column 12c is a display column for displaying detailed information including the file name and modification date and time of the sequence file 1F. The display button 12d is a button for reading and displaying the instruction information (content) in the sequence file 1F. The use button 12e is a button for using the sequence file 1F.

[0141] The PLC device 1 acquires from the modification history DB 121 the modification history including the file name, modification instruction information, and modification date and time of the sequence file 1F. The PLC device 1 acquires each sequence file 1F from the storage unit 12 based on the file name of each acquired sequence file 1F. The PLC device 1 generates a thumbnail for displaying the modified modification instruction information in a form different from other instruction information based on the modification instruction information of each sequence file 1F acquired from the modification history DB 121.

[0142] The display form is not particularly limited. For example, the display form of the background of the correction instruction information (e.g., color or shaded pattern) may be changed, or the display form of the characters of the correction instruction information (e.g., font color, font size, bold, italic, or underline) may be changed.

[0143] The PLC device 1 displays the thumbnail of each generated sequence file 1F in the thumbnail display column 12b. The PLC device 1 displays the file name and the correction date and time of each sequence file 1F in the detailed information display column 12c. As shown in the figure, for the three sequence files 1F ("SeqFile1_1.***", "SeqFile1_2.***", and "SeqFile1_3.***") obtained from the correction history DB 121, the PLC device 1 highlights the correction instruction information of each sequence file 1F in bold and displays the file name and the correction date and time of each sequence file 1F in the correction history display column 12a.

[0144] When the PLC device 1 receives a touch (click) operation on the display button 12d, it reads out the corresponding sequence file 1F from the storage unit 12 and displays the instruction information of the read sequence file 1F.

[0145] When the PLC device 1 receives a touch operation on the use button 12e, it uses the corresponding sequence file 1F. In this case, the PLC device 1 outputs control commands corresponding to the control commands and parameters for each control target in the same manner as the processing in the first embodiment using the sequence file 1F selected by the use button 12e.

[0146] FIG. 17 is a flowchart showing a processing procedure when displaying the correction history of the sequence file 1F. The control unit 11 of the PLC device 1 acquires a correction history including the file name, correction instruction information, correction date and time, etc. of the sequence file 1F from the correction history DB 121 in the storage unit 12 (step S141). The control unit 11 reads out each sequence file 1F from the storage unit 12 based on the file name of each acquired sequence file 1F (step S142).

[0147] Based on the modification instruction information of each sequence file 1F obtained from the modification history DB 121, the control unit 11 generates a thumbnail for displaying the modification instruction information of each read sequence file 1F in a form different from other instruction information (step S143). The control unit 11 causes the display unit 15 to display the generated thumbnail of each sequence file 1F, the file name, and the modification date and time of each sequence file 1F obtained from the modification history DB 121 (step S144). The control unit 11 ends the process.

[0148] According to this embodiment, it becomes possible to accept modifications to the instruction information in the sequence file 1F.

[0149] According to this embodiment, by outputting the modification instruction information in a form different from other instruction information, the modification history of the sequence file 1F is visualized, so that the user can easily grasp the past modification points.

[0150] (Embodiment 4) Embodiment 4 relates to a form in which a plurality of types of sequence files 1F are used. Note that descriptions of the content overlapping with Embodiments 1 to 3 are omitted. In Embodiments 1 to 3, an example of a single sequence file 1F was described, but the present invention is not limited to this, and a plurality of types of sequence files 1F can be used. Depending on the work content for different objects, a plurality of types of sequence files 1F may be prepared for the same control targets (for example, the robot unit 2, the hand unit 3, and the imaging device 4).

[0151] For example, when performing a picking operation, a depalletizing operation, or a palletizing operation on an object, the same robot unit 2, hand unit 3, and imaging device 4 can be used. In this case, a plurality of types of sequence files 1F prepared in advance are stored in the storage unit 12 according to the work content.

[0152] The PLC device 1 acquires a plurality of types of sequence files 1F from the storage unit 12. The PLC device 1 accepts selection of a target sequence file 1F by the user from the acquired plurality of types of sequence files 1F. The PLC device 1 outputs control commands corresponding to the control commands and parameters to each control target in the order of the instruction information in the accepted sequence file 1F.

[0153] FIG. 18 is a flowchart showing a processing procedure when outputting control commands to each control target in Embodiment 4. Note that the same reference numerals are given to the overlapping contents as in FIG. 8, and the description thereof is omitted.

[0154] The control unit 11 of the PLC device 1 acquires a plurality of types of sequence files 1F from the storage unit 12 (step S151). The control unit 11 displays the acquired plurality of types of sequence files 1F on the display unit 15 (step S152). The control unit 11 accepts selection of a target sequence file 1F from the displayed plurality of types of sequence files 1F by the input unit 14 (step S153). The control unit 11 executes the processing after step S112.

[0155] FIG. 19 is an explanatory diagram showing an example of the record layout of the change history DB 121 in Embodiment 4. Note that the description of the overlapping contents with FIG. 14 is omitted. The change history DB 121 includes a type number column and a type name column. The type number column stores a type number for specifying the type of the sequence file 1F.

[0156] The types are provided according to, for example, the work content, and may include a sequence file for picking work, a sequence file for depalletizing work, or a sequence file for palletizing work. The type name column stores the name of the type.

[0157] FIG. 20 is an explanatory diagram showing an example of a change history screen of the sequence file 1F in Embodiment 4. Note that the same reference numerals are given to the overlapping contents as in FIG. 16, and the description thereof is omitted. The screen includes a type selection column 12f. The type selection column 12f is a column that accepts selection of a target type from a plurality of types of the sequence file 1F.

[0158] The PLC device 1 acquires a plurality of types and the names of the respective types in the sequence file 1F from the change history DB 121. The PLC device 1 displays the acquired plurality of types and the names of the respective types in the type selection column 12f. The PLC device 1 accepts selection of a target type by the user from the plurality of types displayed in the type selection column 12f. As shown in the figure, the type of the sequence file 1F selected by the user is "sf001 (sequence file for picking work)".

[0159] Based on the type number of the selected type, the PLC device 1 acquires the change history (file name of the sequence file 1F, modification instruction information, modification date and time, etc.) corresponding to the type from the change history DB 121. Thereafter, the PLC device 1 performs thumbnail generation processing for each sequence file 1F in the same manner as the processing in FIG. 16, and displays the thumbnail, file name, and modification date and time of each sequence file 1F in the change history display column 12a.

[0160] According to the present embodiment, it is possible to accept selection of a target sequence file 1F from a plurality of types of sequence files 1F.

[0161] According to the present embodiment, by preparing a plurality of types of sequence files 1F, it is possible to flexibly and quickly respond to the business content, and it is possible to improve the business efficiency.

[0162] According to the present embodiment, it is possible to display the change history for each type of the sequence file 1F.

[0163] The embodiments disclosed this time should be considered illustrative in all respects and not restrictive. The scope of the present invention is shown not by the above meaning but by the claims, and all modifications within the meaning and scope equivalent to the claims are intended to be included.

[0164] The matters described in each embodiment can be combined with each other. Also, the independent claims and dependent claims described in the claims can be combined with each other in all possible combinations regardless of the citation form. Furthermore, although the claims use a form (multi-claim form) of describing claims that cite two or more other claims, it is not limited to this. It may be described using a form of describing a multi-claim (multi-multi-claim) that cites at least one multi-claim.

Description of Reference Numerals

[0165] 1 PLC device 1F Sequence file (First sequence file; Second sequence file) 11 Control unit 12 Storage unit 121 Revision history DB 13 Communication unit 14 Input unit 15 Display unit 1P Control program 2 Robot unit 21 Robot body 22 Controller 221 Control unit 222 Storage unit 223 Communication unit 2P Control program 3 Hand unit 31 Hand body 32 Weight measurement sensor 4 Imaging device

Claims

1. A sequence file that defines instruction information including control commands, controlled objects, and parameters that specify control details for the controlled objects in chronological order is acquired by a PLC (Programmable Logic Controller), and control commands corresponding to the control commands and parameters for each controlled object are output by the PLC in the order of the instruction information in the acquired sequence file. An information processing method.

2. Accepts modifications to the instruction information in the sequence file, and outputs control commands corresponding to the control commands and parameters for the controlled object based on the accepted modified sequence file. The information processing method according to Claim 1.

3. Accepts settings of a plurality of parameters including a first parameter and a second parameter for a combination of a single control command and a controlled object The information processing method according to Claim 1 or 2.

4. Accepts settings of a plurality of parameters and return values for each controlled object, selects instruction information corresponding to the accepted return value, and sequentially outputs control commands corresponding to the control commands and parameters for each controlled object from the selected instruction information. The information processing method according to Claim 1 or 2.

5. According to a plurality of return values for the controlled object in the instruction information, after the instruction information, accepts settings of instruction information corresponding to each return value The information processing method according to Claim 4.

6. The controlled objects include robots, cameras, and sensors, and accepts settings of a plurality of parameters for each of the robot, camera, and weighing sensor. The information processing method according to Claim 1 or 2.

7. Acquires a plurality of types of sequence files, accepts selection of a target sequence file from the acquired plurality of types of sequence files, and outputs control commands corresponding to the control commands and parameters for each controlled object by the PLC in the order of the instruction information in the accepted sequence file. The information processing method according to Claim 1 or 2.

8. Outputs a first sequence file and a second sequence file including modified instruction information modified with respect to the instruction information of the first sequence file, and when outputting the second sequence file, outputs the modified instruction information in a form different from other instruction information. The information processing method according to Claim 1 or 2.

9. A sequence file that defines, in chronological order, instruction information including a control command, a control target, and a parameter that specifies control content for the control target is acquired by a PLC, and control commands corresponding to the control commands and parameters for each control target are output by the PLC in the order of the instruction information in the acquired sequence file. A program that causes a computer to execute the processing.

10. An information processing apparatus including a control unit, wherein the control unit acquires, by a PLC, a sequence file that defines, in chronological order, instruction information including a control command, a control target, and a parameter that specifies control content for the control target, and outputs, by the PLC, control commands corresponding to the control commands and parameters for each control target in the order of the instruction information in the acquired sequence file. An information processing apparatus.

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