Robot or machine tool simulation device

Abstract

This simulation device comprises: a simulation unit which performs simulation of the motion of a robot or a machine tool; a settings alteration unit which, in the case of occurrence of an alarm indicating an anomaly in the motion of the robot or the machine tool during simulation, alters settings information data to be used to control the motion of the robot or the machine tool; and an option deletion unit which, in the case of occurrence of the alarm, deletes option software to be used to control option functionality included in the motion of the robot or the machine tool.

Description

[Technical Field]

[0001] The present invention relates to a simulation device for a robot or a machine tool. [Background technology]

[0002] 2. Description of the Related Art Simulation devices are known that perform offline simulations of the operations of industrial robots and machine tools.

[0003] For example, Patent Document 1 describes a robot simulation device that simulates the operation of a system that combines an actual robot and actual peripheral devices by displaying the operations of the robot and peripheral devices as animation on a screen, in which an information processing device and a robot control device for controlling the actual robot are connected by a communication path, robot operation position information from the robot control device and command information output to the peripheral devices are sent to the information processing device via the communication path, and the operation of the robot and peripheral devices is displayed as animation based on the robot operation position information and command information.

[0004] For example, Patent Document 2 discloses a robot system capable of reproducing a situation in which an alarm occurs, the robot system including a robot and a simulation device connected to the robot via a communication line and simulating the operation of the robot, the robot having means for recording the operating status at that time as robot history information when a predefined alarm occurs in the robot while it is operating, and means for transferring the robot history information to the simulation device via the communication line, the simulation device having means for receiving the robot history information transferred from the robot, and means for simulating and reproducing the operating status of the robot at the time the alarm occurred using the received robot history information. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2003-117863 [Patent Document 2] Japanese Patent Application Laid-Open No. 2005-103681 Summary of the Invention [Problem to be solved by the invention]

[0006] Due to differences between the environment in which a real robot is installed and the virtual environment in a robot simulation device, an alarm may be generated for the robot in the simulation device. When an alarm is generated, the operator must check the content of the alarm and manually change the robot settings or remove optional functions of the robot as necessary. However, it may take time to resolve the alarm. The above-mentioned problem may also occur in machine tool simulation devices. Therefore, there is a demand for a robot or machine tool simulation device that allows alarms to be easily resolved. [Means for solving the problem]

[0007] According to one aspect of the present disclosure, a simulation device includes a simulation unit that simulates the operation of a robot or machine tool, a setting change unit that changes setting information data used to control the operation of the robot or machine tool when an alarm indicating an abnormal operation of the robot or machine tool occurs during simulation by the simulation unit, and an option deletion unit that deletes optional software used to control optional functions of the operation of the robot or machine tool when an alarm occurs. [Effects of the Invention]

[0008] According to one aspect of the present disclosure, an alarm can be easily resolved in a simulation device for a robot or a machine tool. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a block diagram illustrating a simulation device according to an embodiment of the present disclosure. [Figure 2] FIG. 1 is a diagram illustrating an example system configuration of a simulation device according to an embodiment of the present disclosure. [Figure 3] 10 is a flowchart illustrating the flow of each process of a simulation device according to an embodiment of the present disclosure. [Figure 4] 10 is a flowchart illustrating an alarm resolution determination process when setting information data is changed in a simulation device according to an embodiment of the present disclosure. [Figure 5] 10 is a flowchart illustrating a confirmation process in a simulation device according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0010] The robot or machine tool simulation device will be described below with reference to the drawings. In each drawing, like components are assigned like reference numerals. In addition, the scale of these drawings has been changed as appropriate to facilitate understanding. The illustrated embodiment is one example for carrying out the present invention, and the present invention is not limited to these embodiments.

[0011] The standard functions of industrial robots and machine tools are controlled based on "standard software" that is pre-installed (implemented). Robots and machine tools are also highly flexible and can be used for a variety of purposes, and their functions can be further expanded or modified using specific connected devices depending on the purpose. Such functions that are expanded or modified after the fact are also called "optional functions" or "expanded functions." The optional functions of robots and machine tools are controlled based on "optional software" that is additionally installed (implemented) after shipment from the factory, for example. Even for the same type of application, different users (customers) may require unique optional functions, in which case the installation of dedicated optional software for each user is required.

[0012] A simulation device according to an embodiment of the present disclosure is a robot simulation device that simulates the operation of a robot, or a machine tool simulation device that simulates the operation of a machine tool. Here, a robot simulation device (simply referred to as a "simulation device") will be described as an example, but the following description can also be applied to a machine tool simulation device.

[0013] Fig. 1 is a block diagram illustrating a simulation device according to an embodiment of the present disclosure. Fig. 2 is a diagram illustrating an example of a system configuration of a simulation device according to an embodiment of the present disclosure.

[0014] As shown in Fig. 2, the simulation device 1 is a computer equipped with input devices such as a keyboard 31 and a mouse 32, a display device 33, and an arithmetic processing device (not shown). Software for controlling the standard functions of an actual robot and optional software for controlling optional functions are installed in the simulation device 1. In addition, setting information data that defines various settings used to control the movement of an actual robot is input to the simulation device 1. Using this standard software, optional software, and setting information data, the simulation device 1 performs a simulation that reproduces the movement of a robot 41 in a virtual space, and displays the simulation results on the screen of the display device 33.

[0015] There are dozens to hundreds of types of optional software used to control the operation of a robot. For example, there is optional software for controlling each of the specific connected devices of the robot, optional software for making the robot's arms move in a specific manner, optional software for making the robot's main body (base) move in a specific manner, etc., but other optional software may also be included. Examples of optional software for controlling specific connected devices of the robot include optional software for controlling specific hands attached to the robot, optional software for controlling specific tools attached to the robot, optional software for controlling specific cameras attached to the robot, optional software for controlling specific sensors attached to the robot, optional software for controlling specific communication devices attached to the robot, etc., but other optional software may also be included.

[0016] The setting information data used to control the operation of the robot specifies information regarding various settings for standard functions controlled by standard software and optional functions controlled by optional software, such as setting information regarding the supply voltage of connected devices, setting information regarding communication with connected devices, setting information regarding the robot's coordinate system, setting information regarding loads, and other setting information, but setting information other than these may also be specified in the setting information data.

[0017] Similarly, there are dozens or even hundreds of types of optional software used to control the operation of a machine tool. For example, there is optional software for controlling each of the specific connected devices of the machine tool, optional software related to axis control of the machine tool, optional software for causing the numerical control device of the machine tool to execute specific arithmetic processing, etc., but other optional software may also be included. Examples of optional software related to axis control of the machine tool include optional software related to expanding the number of controlled axes and optional software related to feed axis synchronization control, and an example of optional software for causing the numerical control device of the machine tool to execute specific arithmetic processing is optional software related to cylindrical interpolation processing.

[0018] The setting information data used when controlling the operation of a machine tool includes, for example, setting information regarding the supply voltage of a connected device, setting information regarding communication with a connected device, setting information regarding the coordinate system used for axis control of the machine tool, setting information regarding the load, and other setting information, but setting information other than these may also be specified in the setting information data.

[0019] 1, the simulation device 1 includes a simulation unit 11, a setting change unit 12, and an option deletion unit 13. Furthermore, the simulation device 1 includes an alarm cause identification unit .

[0020] The simulation unit 11 performs a simulation to reproduce the robot's movements in a virtual space using standard software, optional software, and setting information data. If any abnormality in the robot's movements occurs during the simulation by the simulation unit 11, an alarm is generated.

[0021] When an alarm occurs in the simulation by the simulation unit 11, the setting change unit 12 changes the setting information data used to control the operation of the robot.

[0022] When an alarm occurs in the simulation by the simulation unit 11, the option deletion unit 13 deletes (uninstalls) optional software used to control optional functions among the robot's operations.

[0023] If the setting information data changed by the setting change unit 12 and / or the optional software deleted by the option removal unit 13 is the cause of the alarm, the alarm is resolved. The alarm cause identification unit 14 identifies the cause of the alarm based on the changes made to the setting information data by the setting change unit 12 and / or the deletion of the optional software by the option removal unit 13. The alarm cause identification unit 14 includes a determination unit 21, a determination unit 22, and a storage unit 23. The determination unit 21 determines whether the alarm has been resolved when the setting information data is changed by the setting change unit 12 and / or the optional software is deleted by the option removal unit 13. The determination unit 22 determines, as the cause of the alarm, the setting information data changed when the determination unit 21 determines that the alarm has been resolved and / or the optional software deleted when the determination unit 21 determines that the alarm has been resolved. The cause of the alarm determined by the determination unit 22 is displayed on the screen of the display device 33. The storage unit 23 stores alarm history information that associates the setting information data and / or optional software determined by the determination unit 22 as the cause of the alarm with the alarm.

[0024] The alarm history information is accumulated in the storage unit 23 each time an alarm occurs during a simulation by the simulation unit 11, and is referenced when determining which setting information data should be changed by the setting change unit 12 and which optional software should be deleted by the option deletion unit 13 when an alarm occurs next time onwards. In other words, when an alarm occurs during a simulation by the simulation unit 11, the setting change unit 12 refers to the past alarm history information stored in the storage unit 23 and preferentially changes the setting information data to the same as the setting information data that was recorded as the alarm history information corresponding to the alarm. For example, if the setting information data A, B, and C input to the simulation device 1 are ON, OFF, and ON, and the alarm history information indicates that the alarm was resolved when the setting information data A, B, and C were OFF, the setting change unit 12 refers to the alarm history information and executes three setting change processes: "setting information data A is OFF and setting information data C is ON," "setting information data A is ON and setting information data C is OFF," and "setting information data A is OFF and setting information data C is OFF." If the alarm is new, the alarm is not included in the alarm history information. In this case, the setting change unit 12 changes the setting information data that is not yet included in the alarm history information. When an alarm occurs during a simulation by the simulation unit 11, the option deletion unit 13 refers to past alarm history information stored in the storage unit 23 and preferentially deletes the optional software that is the same as the optional software recorded as the alarm history information corresponding to the alarm. If the alarm that has occurred is new, the alarm is not included in the alarm history information, and in that case, the option deletion unit 13 will change the optional software that is not included in the alarm history information.

[0025] According to an embodiment of the present disclosure, when an alarm occurs in a simulation by the simulation unit 11, the setting change unit 12 changes the setting information data, and the determination unit 21 determines whether the alarm has been resolved in the simulation by changing the setting information data. When the setting change unit 12 changes the setting information data in response to the occurrence of an alarm in a simulation by the simulation unit 11, but the determination unit 21 still does not determine that the alarm has been resolved, the option removal unit 13 deletes the optional software. When the option removal unit 13 deletes the optional software, but the determination unit 21 still does not determine that the alarm has been resolved, the setting change unit 12 further changes the setting information data.

[0026] During the repetition of the above process, if the option removal unit 13 removes a certain piece of optional software (e.g., the first optional software) and the determination unit 21 does not determine that the alarm has been resolved, and then the option removal unit 13 removes another piece of optional software (e.g., the second optional software) and the determination unit 21 determines that the alarm has been resolved, the alarm has been resolved by removing multiple pieces of optional software (i.e., the first optional software and the second optional software). In this case, it is highly likely that the second optional software, which was removed last, is the cause of the alarm, but the second optional software may not be the only cause of the alarm. For example, there may be some relationship between the first optional software and the second optional software, and the second optional software alone may not cause the alarm, but the alarm may be caused by the first optional software and the second optional software being installed simultaneously. For example, if three alarms are occurring simultaneously and the alarms are resolved by deleting three pieces of optional software, it is impossible to determine whether all three pieces of optional software are the cause of the alarms, whether two of the pieces of optional software are the cause of the alarms, or whether the last piece of optional software that was deleted is the cause of the alarms.Also, for example, if a single alarm is occurring, deleting the optional software may resolve that alarm, but deleting that optional software may cause a new alarm to occur, in which case it is impossible to determine the cause of the alarm.

[0027] Therefore, if the alarm is resolved by deleting multiple pieces of optional software, as a confirmation process, the option removal unit 13 deletes the second optional software again from the state in which the first optional software and the second optional software have been re-added, and at that point the determination unit 21 determines whether the alarm has been resolved in the simulation by the option removal unit 13 deleting the second optional software. This process is repeatedly executed until the determination unit 21 determines that the alarm has been resolved. A series of processes up to identifying the cause of an alarm in a simulation device according to an embodiment of the present disclosure will be described in more detail with reference to FIGS. 3 to 5.

[0028] Fig. 3 is a flowchart illustrating the flow of each process in a simulation device according to an embodiment of the present disclosure. Fig. 4 is a flowchart illustrating an alarm cancellation determination process when setting information data is changed in a simulation device according to an embodiment of the present disclosure. Fig. 5 is a flowchart illustrating a confirmation process in a simulation device according to an embodiment of the present disclosure. Each of the following processes is executed when the simulation unit 11 is performing a simulation that reproduces the operation of a robot in a virtual space.

[0029] In step S101, the alarm cause identification unit 14 determines whether or not an alarm has occurred as a result of the simulation by the simulation unit 11. If it is determined in step S101 that an alarm has occurred, in step S102, an alarm resolution determination process is executed when the settings are changed.

[0030] In step S102, the determination unit 21 determines whether or not the alarm has been resolved in the simulation by the simulation unit 11 as a result of the change of the setting information data by the setting change unit 12.

[0031] Here, the setting change alarm cancellation determination process in step S102 and steps S106 and S110, which will be described later, will be described in more detail with reference to FIG.

[0032] 4, in step S201, the setting change unit 12 executes a process for changing the setting information data, and the simulation unit 11 executes a simulation, and then in step S202, the determination unit 21 determines whether the alarm has been resolved in the simulation. If it is not determined in step S202 that the alarm has been resolved (i.e., if the alarm has not been resolved), the process proceeds to step S203.

[0033] In step S203 of FIG. 4, the setting change unit 12 determines whether change processing has been performed for all setting information data and possible combinations of the setting information data. In this case, the setting change unit 12 references past alarm history information stored in the storage unit 23 and prioritizes changing the setting information data that is the same as the setting information data recorded as the alarm history information corresponding to the alarm. If it is determined in step S203 that there is setting information data or a combination thereof for which change processing has not been performed, the process returns to step S201, and the setting change unit 12 selects and executes a change processing from among the setting information data or combinations for which change processing has not been performed. There are multiple types of setting information data. For example, if there are two types of setting information data, setting information data A and setting information data B, the change processing performed in step S201 is three types: change processing for setting information data A alone, change processing for setting information data B alone, and change processing for both setting information data A and B simultaneously. Step S203 is performed to determine whether any of these three types of change processing have not yet been performed. For example, if the setting change unit 12 changes the setting information data A in step S201 and it is determined in the simulation by the simulation unit 11 in the next step S202 that the alarm has been resolved, the setting registration alarm resolution determination process is terminated at that point and the process proceeds to the next step. Also, if the setting change unit 12 changes the setting information data A in step S201 and it is not determined in the simulation by the simulation unit 11 in the next step S202 that the alarm has been resolved, the process returns to step S201 via step S203 to change the setting information data B, and if it is determined in the simulation by the simulation unit 11 in the next step S202 that the alarm has been resolved, the setting registration alarm resolution determination process is terminated at that point and the process proceeds to the next step.Also, for example, if the setting change unit 12 changes the setting information data A in step S201 and the simulation unit 11 does not determine in the next step S202 that the alarm has been resolved in the simulation, and if the process returns to step S201 via step S203 and changes the setting information data B, but the simulation unit 11 still does not determine in the next step S202 that the alarm has been resolved, the process returns to step S201 via step S203 and changes both the setting information data A and B, and it is determined in step S202 whether the alarm has been resolved in the simulation by the simulation unit 11. If it is determined in step S203 that the change processing has been executed for all the setting information data and all possible combinations of that setting information data, the setting registration alarm resolution determination processing ends at that point, and the process proceeds to the next step.

[0034] If it is determined that the alarm has been resolved in the simulation by the simulation unit 11 through the regular registration alarm resolution determination process in step S102, in step S112 the determination unit 21 determines the setting information data changed in step S102 as the cause of the alarm, and the memory unit 23 stores alarm history information that associates the setting information data determined by the determination unit 22 as the cause of the alarm with the alarm.

[0035] If it is not determined that the alarm has been resolved in the simulation by the simulation unit 11 in the regular registration alarm resolution determination process in step S102, the process proceeds to step S103.

[0036] In step S103, the setting information data changed in step S102 is returned to the state before the change (returned to the original state).

[0037] In step S104, the option removal unit 13 removes one of the installed optional software. At this time, the option removal unit 13 refers to the past alarm history information stored in the storage unit 23, and preferentially removes the optional software that is the same as the optional software recorded as the alarm history information corresponding to the alarm.

[0038] In step S105, the determination unit 21 determines whether the alarm has been resolved in the simulation by the simulation unit 11 due to the removal of the optional software in step S104. If it is determined in step S105 that the alarm has not been resolved, the process proceeds to step S106. If it is determined in step S105 that the alarm has been resolved, in step S112 the determination unit 21 determines that the optional software removed in step S104 is the cause of the alarm, and the storage unit 23 stores alarm history information that associates the optional software determined by the determination unit 22 as the cause of the alarm with the alarm.

[0039] In step S106, the determination unit 21 executes the setting change alarm cancellation determination process described with reference to Fig. 4. That is, the determination unit 21 determines whether or not the alarm has been canceled in the simulation by the simulation unit 11 due to the change in setting information data by the setting change unit 12.

[0040] If it is not determined that the alarm has been resolved in the simulation by the simulation unit 11 in the regular registration alarm resolution determination process in step S106, the process proceeds to step S107.

[0041] If it is determined that the alarm has been resolved in the simulation by the simulation unit 11 through the regular registration alarm resolution determination process in step S106, in step S112 the determination unit 21 determines that the setting information data changed in step S106 and the optional software deleted in step S104 are the causes of the alarm, and the memory unit 23 stores alarm history information that associates the setting information data and optional software determined by the determination unit 22 as the causes of the alarm with the alarm.

[0042] In step S107, the settings are restored by re-entering the setting information data deleted in step S106 into the simulation device 1. However, at the time of step S107, the optional software deleted in step S104 is not re-added, but remains in its deleted state.

[0043] In step S108, the option removal unit 13 further removes (uninstalls) one of the installed optional software. Therefore, at the time of step S108, two optional software programs have been removed compared to the initial state.

[0044] In step S109, the determination unit 21 determines whether or not the alarm has been resolved in the simulation by the simulation unit 11 due to the removal of the optional software in step S108. If it is determined in step S109 that the alarm has been resolved, a confirmation process, which will be described later, is executed, and if it is not determined that the alarm has been resolved, the process proceeds to step S110.

[0045] In step S110, the setting change alarm resolution determination process described with reference to Fig. 4 is executed. That is, the determination unit 21 determines whether or not the alarm has been resolved in the simulation by the simulation unit 11 due to the change in setting information data by the setting change unit 12.

[0046] If it is determined in the simulation of the simulation unit 11 that the alarm has been resolved in the regular registration alarm resolution determination process of step S110, a confirmation process, which will be described later, is executed.

[0047] If it is not determined that the alarm has been resolved in the simulation by the simulation unit 11 in the regular registration alarm resolution determination process in step S110, the process proceeds to step S111.

[0048] In step S111, the option removal unit 13 determines whether all of the installed optional software has been removed. If it is determined in step S111 that all of the optional software has not been removed, the process returns to step S108, and if it is determined that all of the optional software has been removed, the process ends.

[0049] In step S112, the determination unit 22 determines, as the cause of the alarm, the setting information data that was changed when the determination unit 21 determined in step S102 or S106 that the alarm has been resolved, and / or the optional software that was deleted when the determination unit 21 determined in step S106 that the alarm has been resolved. Then, the storage unit 23 stores alarm history information that associates the setting information data and / or optional software that have been determined by the determination unit 22 as the cause of the alarm with the alarm. After step S112, the processing ends.

[0050] If it is determined in step S109 or S110 that the alarm has been resolved, the confirmation process shown in Fig. 5 is executed. The confirmation process is executed when the alarm has been resolved by deleting multiple pieces of optional software.

[0051] In the confirmation process, first, in step S301, the setting change unit 12 restores the changed setting information data to its original state, and the option deletion unit 13 re-adds (installs) the deleted option software, thereby restoring the system to the initial state.

[0052] In step S302, the option deleting unit 13 deletes again the optional software that was deleted in step S109 when it was determined in step S109 or S110 that the alarm has been resolved.

[0053] In step S303, the setting change unit 12 changes the setting information data that was changed in step S110 when it was determined in step S110 that the alarm has been resolved, again with the same change content. Note that if the setting is restored in step S107, the optional software is deleted in step S108, and it is determined in step S109 that the alarm has been resolved, the alarm resolution determination process at the time of the setting change in step S110 has not been executed, and therefore the process proceeds to step S304 without executing the process of step S303.

[0054] In step S304, the determination unit 21 determines whether the alarm has been resolved in the simulation by the simulation unit 11.

[0055] If it is determined in step S304 that the alarm has been resolved, then in step S308 the determination unit 21 determines the optional software deleted in step S302 and the setting information data changed in step S303 as the cause of the alarm, and the storage unit 23 stores alarm history information that associates the optional software and setting information data determined by the determination unit 22 as the cause of the alarm with the alarm. Note that if the settings are restored in step S107, the optional software is deleted in step S108, it is determined in step S109 that the alarm has been resolved, and it is further determined in step S304 that the alarm has been resolved, then the alarm resolution determination process at the time of the setting change in step S110 has not been executed, and therefore in step S308 the determination unit 21 determines the optional software deleted in step S302 as the cause of the alarm, and the storage unit 23 stores alarm history information that associates the optional software determined by the determination unit 22 as the cause of the alarm with the alarm.

[0056] If it is determined in step S304 that the alarm has not been resolved, the option removing unit 13 further removes one of the installed optional software in step S305.

[0057] In step S306, the determination unit 21 determines whether the alarm has been resolved in the simulation by the simulation unit 11.

[0058] If it is determined in step S306 that the alarm has been resolved, the process returns to step S301.

[0059] If it is determined in step S306 that the alarm has been resolved, the option removal unit 13 determines in step S307 whether or not all of the installed optional software has been removed. If it is not determined in step S306 that all of the optional software has been removed, the process returns to step S305.

[0060] If it is determined in step S307 that all optional software has been deleted, then in step S308, if it is determined in step S109 that the alarm has been resolved, the determination unit 22 determines the optional software deleted in step S109 as the cause of the alarm, and if it is determined in step S110 that the alarm has been resolved, the determination unit 22 determines the setting information data changed in step S110 and the optional software deleted in steps S104 and S108 as the cause of the alarm. The storage unit 23 stores alarm history information that associates the optional software and / or setting information data determined by the determination unit 22 as the cause of the alarm with the alarm. Thereafter, the processing ends.

[0061] Here, as an example, we will explain the series of processes up to identifying the cause of an alarm in a robot simulation device 1 equipped with three optional software A, B, and C and two setting information data α and β, using several specific examples.

[0062] As a first specific example, if it is determined in step S102 that the alarm has been resolved by changing both setting information data α and β, then in step S112 it is determined that setting information data α and β are the cause of the alarm.

[0063] As a second specific example, if it is determined in step S102 that the alarm has not been resolved even after changing the setting information data, the setting information data is restored to its state before the change in step S103, and optional software A is deleted in step S104. If it is determined in step S105 that the alarm has been resolved by deleting optional software A, then in step S112 it is determined that optional software A is the cause of the alarm.

[0064] As a third specific example, if it is determined in step S102 that the alarm has not been resolved even by changing the setting information data, the setting information data is restored to its state before the change in step S103, and optional software A is deleted in step S104. If it is not determined in step S105 that the alarm has been resolved by deleting optional software A, it is determined in step S106 whether the alarm has been resolved by changing the setting information data. If it is determined in step S105 that the alarm has been resolved by changing the setting information data α, it is determined in step S112 that optional software A and setting information data α are the cause of the alarm.

[0065] As a fourth specific example, if it is determined in step S102 that the alarm has not been resolved by changing the setting information data, the setting information data is returned to its state before the change in step S103, and optional software A is deleted in step S104. If it is not determined in step S105 that the alarm has been resolved by deleting optional software A, it is determined in step S106 whether the alarm has been resolved by changing the setting information data. If it is not determined in step S105 that the alarm has been resolved by changing the setting information data, the setting information data is returned to its state before the change in step S103, and optional software B is deleted in step S108. If it is determined in step S109 that the alarm has been resolved by deleting optional software B, the deleted optional software A and B are re-added in step S301 to return to their initial state, and optional software B is deleted in step S302. If it is determined in step S304 that the alarm has been resolved by deleting optional software B, optional software B is determined to be the cause of the alarm in step S308.

[0066] As a fifth specific example, if optional software A, B, and C are deleted at the stage where steps up to step S109 have been executed and it is not determined in step S109 that the alarm has been resolved, and it is determined in step S110 that the alarm has been resolved by changing the setting information data α, then in step S301 the deleted optional software A, B, and C are re-added and the setting information data α is returned to the state before the change, thereby returning to the initial state, optional software C is deleted in step S302, and the setting information data α is changed in step S303. If it is not determined in step S304 that the alarm has been resolved by deleting optional software C, optional software A is deleted in step S305, and if it is not determined in step S306 that the alarm has been resolved by deleting optional software A, optional software B is deleted in step S305. If it is determined in step S306 that the alarm has been resolved by deleting optional software B, the process returns to step S301, where the deleted optional software A, B, and C are re-added and the setting information data α is returned to the state before the change, thereby returning to the initial state, and optional software B and C are deleted in step S302, and the setting information data α is changed in step S303. If it is determined in step S304 that the alarm has been resolved by deleting optional software B and C, it is determined in step S308 that optional software B and C and setting information data α are the cause of the alarm.

[0067] As a sixth specific example, if optional software A and B have been deleted at the stage up to step S109 and it is not determined in step S109 that the alarm has been resolved, and if it is not determined in step S110 that the alarm has been resolved by changing the setting information data, then in step S111 it is determined whether all optional software has been deleted. If optional software C has not been deleted at the stage of step S111, the process returns to step S108, where optional software C is deleted. If it is not determined in step S109 that the alarm has been resolved even after deleting optional software A, B, and C, the process proceeds to step S110; if it is not determined in step S110 that the alarm has been resolved by changing the setting information data, the process proceeds to step S111. At this stage, optional software A, B, and C have all been deleted, and the cause of the alarm is deemed unidentifiable, and the process ends.

[0068] The simulation device 1 described above is configured by a computer including an arithmetic processing device (processor). This arithmetic processing device includes a simulation unit 11, a setting change unit 12, an option deletion unit 13, and an alarm cause identification unit 14. Each of these units included in the arithmetic processing device is a functional module implemented, for example, by a computer program executed on the processor. For example, if the simulation unit 11, the setting change unit 12, the option deletion unit 13, and the alarm cause identification unit 14 are implemented in the form of a computer program, the functions of each unit can be realized by operating the arithmetic processing device in accordance with the computer program. The computer programs for executing the processes of the simulation unit 11, the setting change unit 12, the option deletion unit 13, and the alarm cause identification unit 14 may be provided in a form recorded on a computer-readable recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium. Alternatively, the simulation unit 11, the setting change unit 12, the option deletion unit 13, and the alarm cause identification unit 14 may be realized as a semiconductor integrated circuit onto which computer programs for implementing the functions of each unit are written.

[0069] According to an embodiment of the present disclosure, in a simulation device for a robot or a machine tool, an alarm can be easily resolved, and further, the cause of the alarm can be easily identified.

[0070] Although the above description has been given of a case where the simulation 1 is a robot simulation device that simulates the operation of a robot, the above description is similarly applicable to a machine tool simulation device that simulates the operation of a machine tool. [Explanation of symbols]

[0071] 1 Simulation device 11 Simulation Section 12 Setting change section 13 Option deletion section 14 Alarm cause identification section 21 Judgment section 22 Determined part 23 Memory section 31 keyboard 32 Mouse 33 Display device

Claims

1. a simulation unit that simulates the operation of a robot or a machine tool; a setting change unit that changes setting information data used to control the operation of the robot or the machine tool when an alarm indicating an operation abnormality of the robot or the machine tool occurs in a simulation by the simulation unit; and an option deletion unit that deletes optional software used to control optional functions among operations of the robot or the machine tool when the alarm is generated; A simulation device comprising:

2. 2. The simulation device according to claim 1, further comprising an alarm cause identification unit that identifies a cause of the alarm based on the changes made to the setting information data by the setting change unit and / or the deletion of the optional software by the option deletion unit.

3. The alarm cause identification unit a determination unit that determines whether the alarm is resolved when the setting change unit changes the setting information data and / or the option removal unit removes the option software; a determination unit that determines, as a cause of the alarm, setting information data that was changed when the determination unit determined that the alarm has been resolved and / or optional software that was deleted when the determination unit determined that the alarm has been resolved; The simulation device according to claim 2 , further comprising:

4. 4. The simulation device according to claim 3, wherein the alarm cause identification unit includes a storage unit that stores alarm history information that associates the alarm with setting information data and / or optional software that has been determined by the determination unit as the cause of the alarm.

5. when an alarm occurs in the simulation by the simulation unit, the setting change unit changes the setting information data corresponding to the alarm by referring to past alarm history information stored in the storage unit; 5. The simulation device according to claim 4, wherein when an alarm occurs during a simulation by the simulation unit, the option deletion unit refers to past alarm history information stored in the memory unit and deletes optional software corresponding to the alarm.

6. when the setting change unit changes the setting information data in response to the occurrence of an alarm in the simulation by the simulation unit, and the determination unit still does not determine that the alarm has been resolved, the option deletion unit deletes the optional software; The simulation device according to any one of claims 3 to 5, wherein if the determination unit does not determine that the alarm has been resolved even after the option deletion unit deletes the optional software, the setting change unit further changes the setting information data.

7. When the option removal unit removes the first optional software and the determination unit does not determine that the alarm has been resolved, and thereafter the option removal unit removes the second optional software and the determination unit determines that the alarm has been resolved, the option removal unit removes the second optional software again from a state in which the first optional software and the second optional software have been re-added, 6. The simulation device according to claim 3, wherein the determining unit determines whether the alarm is resolved by the removal of the second optional software by the option removing unit.

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