Motion data generation program, motion data generation device, and motion data generation method

Abstract

The first data acquisition unit (131) of the motion data generation device (100) acquires variable list data from the first data storage unit (111), which has pre-stored variable list data, according to the operating mode of the FA equipment (300) selected by the user. The second data acquisition unit (132) acquires motion program template data from the second data storage unit (112), which has pre-stored motion program template data, according to the operating mode of the FA equipment (300) selected by the user. The motion data generation unit (145) generates motion data according to the operating mode of the FA equipment (300) selected by the user, based on the acquired variable list data and motion program template data.

Description

Technical Field

[0001] The present disclosure relates to a motion data generation program, a motion data generation device, and a motion data generation method.

Background Art

[0002] Conventionally, there are known devices and systems that assist in generating motion programs for controlling the operations of external devices such as FA (Factory Automation) devices by a programmable logic controller (PLC: Programmable Logic Controller). Patent Document 1 discloses a setting support device capable of data communication with a central control device to which an operation control unit that controls the operations of external devices by a plurality of parameters is connected. In Patent Document 1, the setting support device extracts a plurality of parameters and initial values for each parameter based on the type of operation of an external device received from a user and displays them on a first screen. When receiving a selection of one parameter from the user, it displays a second screen for inputting the parameter value of the received parameter.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the apparatus described in Patent Document 1, the motion control unit can only set multiple parameters used to control the operation of external devices, but it cannot automatically generate other data, including motion programs, used to control the operation of external devices. Therefore, in the apparatus described in Patent Document 1, the user must manually perform the operations and tasks required to generate the aforementioned data used by the motion control unit. As a result, in the apparatus described in Patent Document 1, the amount of manual work required by the user when building a system in which the central control unit and motion control unit control the operation of external devices is greater than the amount of work that can be automated, resulting in a heavy workload for the user.

[0005] This disclosure is made in view of the circumstances described above and aims to reduce the workload on users when building a system to control the operation of external devices. [Means for solving the problem]

[0006] To achieve the above objective, the motion data generation program relating to this disclosure causes the computer to function as: a first data acquisition unit that acquires variable list data corresponding to the operating mode of the external device selected by the user from a first storage device that pre-stores variable list data showing a list of names and values ​​of variables used by the programmable logic controller when controlling the operation of the external device; a second data acquisition unit that acquires motion program template data corresponding to the operating mode selected by the user from a second storage device that pre-stores motion program template data including template data for motion programs used by the programmable logic controller to control the operation of the external device; and a motion data generation unit that generates motion data including the motion program corresponding to the operating mode selected by the user based on the acquired variable list data and the motion program template data. [Effects of the Invention]

[0007] According to this disclosure, when a user selects an operating mode, the computer retrieves variable list data and motion program template data pre-stored in each storage device, and generates motion data corresponding to the operating mode selected by the user based on the retrieved variable list data and motion program template data. As a result, the motion data generation program according to this disclosure can reduce the user's workload when building a system that controls the operation of external devices compared to a motion data generation program that does not generate motion data corresponding to the operating mode selected by the user based on pre-stored variable list data and motion program template data. [Brief explanation of the drawing]

[0008] [Figure 1] Overall explanatory diagram of the motion data generation device according to this embodiment. [Figure 2] Diagram showing the functional configuration of the motion data generation device and the FA control device. [Figure 3] Block diagram showing the hardware configuration of the motion data generation device. [Figure 4] A diagram showing an example of how variable list data is displayed. [Figure 5] Diagram showing an example of the driving mode selection screen. [Figure 6A] Figure 1 showing an example of the display of the first data editing screen. [Figure 6B] Figure 2 showing an example of the display of the first data editing screen. [Figure 6C] Figure 3 shows an example of the display of the first data editing screen. [Figure 7A] Figure 1 showing an example of the display of the second data editing screen. [Figure 7B] Figure 2 shows an example of the display of the second data editing screen. [Figure 8] Explanation diagram of motion data [Figure 9] Flowchart for motion data generation process [Figure 10] Flowchart of the first data update process [Modes for carrying out the invention]

[0009] The motion data generation program, motion data generation device, and motion data generation method relating to embodiments for implementing this disclosure will be described in detail below with reference to the drawings. In the drawings, the same or corresponding parts will be denoted by the same reference numerals.

[0010] (Regarding the motion data generation device 100) The motion data generation device 100 according to the embodiment of this disclosure, as shown in Figure 1, is a device that assists in creating motion data used in, for example, an FA control device 200, which is an example of a programmable logic controller. Motion data is data that includes a motion program, which is a program that controls the operation of a controlled object, such as the drive shaft of an FA device 300, which is an example of an external device. The motion data generation device 100 is also capable of sending and receiving data with the FA control device 200 via the Internet 400, which is an example of a communication network.

[0011] Specifically, the motion data generation device 100 is a computer device on which an engineering setting tool program is installed, which is a program that realizes the function of an engineering setting tool, that is, a setting tool used by an engineer user. As shown in Figure 2, the motion data generation device 100 includes a data storage unit 110 as an example of a storage device for storing data, a data display unit 120 for displaying data, a data acquisition unit 130 for acquiring data, a data generation unit 140 for generating data, and a data output unit 150 for outputting data.

[0012] The data storage unit 110 includes a first data storage unit 111 as an example of a first storage device that stores variable list data described later, and a second data storage unit 112 as an example of a second storage device that stores motion program template data described later. Further, the data display unit 120 includes an operation mode selection screen display unit 121 that displays an operation mode selection screen 500 shown in FIG. 5 described later, which is used for selecting an operation mode described later as a type of operation of the FA device 300. Further, the data display unit 120 includes a first data editing screen display unit 122 that displays a first data editing screen 600 shown in FIGS. 6A to 6C described later, which is used for editing variable list data, and a second data editing screen display unit 123 that displays a second data editing screen 700 shown in FIGS. 7A and 7B described later, which is used for editing motion program template data.

[0013] Further, the data acquisition unit 130 includes a first data acquisition unit 131 that acquires variable list data, and a second data acquisition unit 132 that acquires motion program template data. Further, the data generation unit 140 includes a first data generation unit 141 that generates variable list data, a second data generation unit 142 that generates motion program template data, a first data update unit 143 that updates variable list data, a second data update unit 144 that updates motion program template data, and a motion data generation unit 145 that generates motion data.

[0014] (Regarding the FA control device 200) In addition, the FA control device 200 is a device that controls the operation of the FA device 300 by various functions such as positioning, high-speed counter, and temperature control. As shown in FIG. 1, the FA control device 200 includes a central control unit 210 that can control the entire FA control device 200 and a plurality of types of operation control units 220 that can control the operation of the FA device 300. The central control unit 210 and the operation control unit 220 can transmit and receive data via an external bus 230, and each control unit 210, 220 and the FA device 300 can transmit and receive data via a LAN (Local Area Network) 410 as an example of a communication network. On the other hand, the operation control units 220 do not transmit and receive data to each other.

[0015] In the present embodiment, the operation control unit 220 directly controls the operation of the FA device 300 without going through the central control unit 210. On the other hand, the central control unit 210 indirectly controls the operation of the FA device 300 by performing control to give various instructions such as start and end of control of the operation of the FA device 300 to the operation control unit 220 based on an input signal from the FA device 300, and does not get deeply involved in the control of the operation of the FA device 300. As shown in FIG. 2, the central control unit 210 and the operation control unit 220 include a data acquisition unit 201 that acquires data, a data storage unit 202 that stores data, and an operation control unit 203 that controls the operation of the FA device 300.

[0016] (Hardware Configuration of the Motion Data Generation Device 100) As shown in FIG. 3, the motion data generation device 100 includes a control unit 51 that executes processing according to a control program 59. The control unit 51 includes a CPU (Central Processing Unit). The control unit 51 functions as a data acquisition unit 130, a first data acquisition unit 131, a second data acquisition unit 132, a data generation unit 140, a first data generation unit 141, a second data generation unit 142, a first data update unit 143, a second data update unit 144, and a motion data generation unit 145 shown in FIG. 2 according to the control program 59.

[0017] Returning to Figure 3, the motion data generation device 100 includes a main memory unit 52 that loads the control program 59 and is used as a work area for the control unit 51. The main memory unit 52 includes RAM (Random Access Memory).

[0018] Furthermore, the motion data generation device 100 includes an external storage unit 53 that pre-stores the control program 59. The external storage unit 53 supplies the data stored in the control program 59 to the control unit 51 according to the instructions of the control unit 51, and stores the data supplied from the control unit 51. The external storage unit 53 includes non-volatile memory such as flash memory, HDD (Hard Disk Drive), or SSD (Solid State Drive). The external storage unit 53 functions as a data storage unit 110, a first data storage unit 111, and a second data storage unit 112, as shown in Figure 2.

[0019] Returning to Figure 3, the motion data generation device 100 includes an operation unit 54 operated by the user. Information input via the operation unit 54 is supplied to the control unit 51. The operation unit 54 includes information input components such as a keyboard, mouse, or touch panel.

[0020] Furthermore, the motion data generation device 100 includes a display unit 55 that displays information input via the operation unit 54 and information output by the control unit 51. The display unit 55 is equipped with a display device such as an LCD (Liquid Crystal Display) or an organic EL (Electro-Luminescence) display. The display unit 55 functions as a data display unit 120, an operation mode selection screen display unit 121, a first data editing screen display unit 122, and a second data editing screen display unit 123, as shown in Figure 2.

[0021] Returning to Figure 3, the motion data generation device 100 includes a transmitting / receiving unit 56 for sending and receiving information. The transmitting / receiving unit 56 includes information and communication components such as a network termination device and a wireless communication device that connect to a network. The transmitting / receiving unit 56 functions as the data output unit 150 shown in Figure 2.

[0022] Returning to Figure 3, in the motion data generation device 100, the main memory unit 52, external memory unit 53, operation unit 54, display unit 55, and transmission / reception unit 56 are all connected to the control unit 51 via the internal bus 50.

[0023] The motion data generation device 100 realizes the functions of the above-mentioned parts 110, 111, 112, 120, 121-123, 130, 131, 132, 140, 141-145, and 150 shown in Figure 2 by having the control unit 51 use the main memory unit 52, external memory unit 53, operation unit 54, display unit 55, and transmission / reception unit 56 as resources. For example, the motion data generation device 100 executes the data storage step performed by the data storage unit 110, the first data storage step performed by the first data storage unit 111, and the second data storage step performed by the second data storage unit 112. Furthermore, for example, the motion data generation device 100 executes the data display step performed by the data display unit 120, the driving mode selection screen display step performed by the driving mode selection screen display unit 121, the first data editing screen display step performed by the first data editing screen display unit 122, and the second data editing screen display step performed by the second data editing screen display unit 123.

[0024] Furthermore, for example, the motion data generation device 100 performs a data acquisition step performed by the data acquisition unit 130, a first data acquisition step performed by the first data acquisition unit 131, and a second data acquisition step performed by the second data acquisition unit 132. Furthermore, for example, the motion data generation device 100 performs a data generation step performed by the data generation unit 140, a first data generation step performed by the first data generation unit 141, and a second data generation step performed by the second data generation unit 142. Furthermore, for example, the motion data generation device 100 performs a first data update step performed by the first data update unit 143, a second data update step performed by the second data update unit 144, and a motion data generation step performed by the motion data generation unit 145.

[0025] (Regarding the hardware configuration of the FA control unit 200) Although not shown in the diagram, the central control unit 210 and motion control unit 220 of the FA control device 200, like the motion data generation device 100, include a control unit 51, a main memory unit 52, an external memory unit 53, an operation unit 54, and a transmitting / receiving unit 56. In the central control unit 210 and motion control unit 220 of the FA control device 200, the main memory unit 52, the external memory unit 53, the operation unit 54, and the transmitting / receiving unit 56 are all connected to the control unit 51 via an internal bus 50. The central control unit 210 and motion control unit 220 of the FA control device 200 realize the functions of each of the above-mentioned units 201 to 203 shown in Figure 2 by the control unit 51 using the main memory unit 52, the external memory unit 53, the operation unit 54, and the transmitting / receiving unit 56 as resources. For example, the central control unit 210 and the operation control unit 220 of the FA control device 200 execute the data acquisition step performed by the data acquisition unit 201, the data storage step performed by the data storage unit 202, and the operation control step performed by the operation control unit 203.

[0026] (Details of the functional configuration of the motion data generation device 100) The first data storage unit 111 stores variable list data that shows a list of names and values ​​of variables used by the FA control device 200 when controlling the operation of the FA equipment 300. The variable list data is data that can be displayed in the form of a table, for example, as shown in Figure 4. As shown in Figure 4, the variable list data includes environment setting variable list data, which is data that shows a list of names and values ​​of environment setting variables, which are variables used to set the environment of the FA control device 200 required to execute a motion program, and program generation variable list data, which is data that shows a list of names and values ​​of program generation variables, which are variables used to generate the motion program.

[0027] For example, the environment setting variable list data is a list of data containing various environment setting variables, such as the string "Axis No." which is the name of the environment setting variable that indicates the axis number of the FA equipment 300 to be controlled, and the number "1" which is its value. Similarly, the program generation variable list data is a list of data containing various program generation variables, such as the string "Axis0001", which is the name of the program generation variable that indicates the identifier of the first axis of the FA equipment 300 to be controlled, and the string "AXIS_REAL", which is the value that indicates that the first axis actually exists. Note that the variable data shown in the variable list data may include data indicating predetermined reference values, so-called default values, that enable standard operation as initial values ​​for various variables.

[0028] Returning to Figure 2, the second data storage unit 112 stores motion program template data, which includes data for a motion program template used by the FA control device 200 to control the operation of the FA equipment 300. As shown in Figure 7A, for example, the motion program template data is data that represents an incomplete source code string with input locations for one or more variable values ​​as missing parts, such as " / / Servo ON 1 axis (...newline...)MC_Power_1 ((...newline...) / / Input / output variables (...newline...)Axis:= (...first input location...), / / Axis information (...newline...) / / Input variables (...newline...)Enable:= (...second input location...), / / Enabled (...newline...)ServoOn:= (...third input location...), / / Servo ON request (...newline...) / / Output variables (...newline...)Status => (...fourth input location...) / / Operable (...newline...)); (...omitted...)". Although not shown in the diagram, motion program template data may include not only the template data for the motion program itself, but also template data for auxiliary programs that assist the motion program. Examples of auxiliary programs include servo start control programs, servo ON programs, and home position return programs, which serve as preparation programs for operation.

[0029] Returning to Figure 2, when the operating mode selection screen display unit 121 receives input requesting that the user generate motion data using the operation unit 54, it displays the operating mode selection screen 500 shown in Figure 5. As shown in Figure 5, the operating mode selection screen 500 has, from top to bottom, an operating mode selection field 501 for selecting the operating mode of the FA equipment 300, an initial value editing field 502 for selecting whether or not to edit the initial values ​​of variables, and an output selection field 503 for selecting whether or not to output motion data to the FA control device 200. The operating mode selection screen 500 also has a detailed setting selection field 504 below the output selection field 503 for selecting data to be displayed on the first data editing screen. The operating mode selection screen 500 also has a description display field 505 to the left below the detailed setting selection field 504, which displays a description of the operating mode displayed in the operating mode selection field 501, and an image display field 506 to the right below, which displays an image of the operating mode displayed in the operating mode selection field 501. Furthermore, the driving mode selection screen 500 has an OK button 507 below each display field 505 and 506.

[0030] The operating mode selection field 501 displays the types of operations that are the target of control of lower-level concepts that classify higher-level control concepts such as positioning control, synchronization control, and origin return. For example, if the higher-level control concept is positioning control, it displays the types of operations that are the target of control of lower-level concepts such as independent, linear storage, helical interpolation, rotation angle, and jogging. The operating mode selection field 501 can display all types of operations that the user can select from the pull-down menu. For example, if the user selects "Jogging" from the pull-down menu by input using the operation unit 54, "Jogging" will be displayed.

[0031] The initial value editing field 502 initially displays "No," and displays "Yes" when the user selects "Yes" from the pull-down menu using the operation unit 54. The output selection column 503 displays "Do not do" in the initial state, and when the user selects "Do" by input using the operation unit 54 from the pull-down menu, it displays "Do".

[0032] When "Yes" is displayed in the initial value editing column 502, the input by the user using the operation unit 54 is enabled for the detailed setting selection column 504, and the first data editing screen 600 shown in FIGS. 6A to 6C described later can be displayed. The detailed setting selection column 504 displays a link to a character string of "<Detailed setting>" for performing detailed settings of various items such as, for example, "Axis information" regarding the axis of the FA device 300, "Label information" regarding the label used in the motion program, "Unit parameter (motion)" regarding the operation of the motion control unit 220, and "Unit parameter (network)" regarding the network environment of the motion control unit 220. When the user selects the link of "<Detailed setting>" below "Axis information" by input using the operation unit 54, for example, the first data editing screen 600 shown in FIG. 6A is displayed on the first data editing screen display unit 122.

[0033] When "JOG operation" is displayed in the operation mode selection column 501, for example, the description column 505 displays a description text of "<JOG operation>" 'Perform positioning operation by the amount of movement set in the "JOG operation movement amount" parameter'. When "JOG operation" is displayed in the operation mode selection column 501, for example, the image display column 506 displays the image of the JOG operation shown in FIG. 5.

[0034] Returning to Figure 2, when the first data editing screen display unit 122 receives input from the user using the operation unit 54 to the detailed setting selection field 504, it displays the first data editing screen 600 shown in Figures 6A to 6C. The first data editing screen 600 includes, for example, an item selection field 601 for selecting configurable items, an initial value input field 602 for entering initial values, an explanation display field 603 for displaying explanations, and an apply button 604 for applying edited initial values, as shown in Figures 6A and 6C. Note that the first data editing screen 600 can also omit the item selection field 601, as shown in Figure 6B.

[0035] For example, if the first data editing screen display unit 122 displays "JOG operation" in the operation mode selection field 501 and "Yes" in the initial value editing field 502, and input to the detailed settings selection field 504 is enabled, and the user selects the "<Detailed Settings>" link below "Axis Information" in the detailed settings selection field 504 by input using the operation unit 54, the first data editing screen 600 shown in Figure 6A will be displayed.

[0036] For example, if the user selects "Axis No." from the "Axis Information" of "Actual Drive Axis" in the item selection field 601 using input from the operation unit 54, the first data editing screen display unit 122 displays the default value "1" for the item "Axis0001" and the default value "2" for the item "Axis0002" as the initial value for "Axis No.". In this case, the first data editing screen display unit 122 also displays the string "Axis No.", "[Setting Range]", and "1~10000" as an explanation for "Axis No." in the explanation display field 603. At this time, the user can change these default values ​​by inputting using the operation unit 54, referring to the explanation displayed in the explanation display field 603.

[0037] Furthermore, for example, if the first data editing screen display unit 122 displays "JOG operation" in the operation mode selection field 501 and "Yes" in the initial value editing field 502, and input to the detailed settings selection field 504 is enabled, and the user selects the "<Detailed Settings>" link below "Label Information" in the detailed settings selection field 504 by input using the operation unit 54, the first data editing screen 600 shown in Figure 6B will be displayed.

[0038] The first data editing screen display unit 122, for example, when a user edits the initial values ​​of the label name, data type, class, initial value, constant, and Japanese description of "MC_Home_1" from the initial value input field 602 by input using the operation unit 54, displays image data explaining the items related to "MC_Home_1" in the description display field 603. At this time, the user can change the initial values ​​of the label name, data type, class, initial value, constant, and Japanese description of "MC_Home_1" by input using the operation unit 54, referring to the image displayed in the description display field 603.

[0039] Furthermore, for example, if the first data editing screen display unit 122 displays "JOG operation" in the operation mode selection field 501 and "Yes" in the initial value editing field 502, and input to the detailed settings selection field 504 is enabled, and the user selects the "<Detailed Settings>" link below "Unit Parameters (Network)" in the detailed settings selection field 504 by input using the operation unit 54, the first data editing screen 600 shown in Figure 6C will be displayed.

[0040] For example, if the user selects "Network Configuration Settings" from "Basic Settings" in the item selection field 601 using input from the operation unit 54, the first data editing screen display unit 122 displays a link with the string "<Advanced Settings>" in the initial value input field 602 to allow the user to configure the detailed settings for the "Network Configuration Settings" item. In this case, the first data editing screen display unit 122 also displays the string "Sets the number of link devices and their allocation for the device stations to the master station" in the explanation display field 603 as an explanation for "Network Configuration Settings". At this time, the user can refer to the explanation displayed in the explanation display field 603 and access the advanced settings screen (not shown) via the "<Advanced Settings>" link to input or change the initial values ​​of the network configuration settings.

[0041] Returning to Figure 2, when the second data editing screen display unit 123 receives input requesting the user to generate motion program template data using the operation unit 54, it displays the second data editing screen 700 shown in Figure 7A. As shown in Figure 7A, the second data editing screen 700 is provided with a source code input field 701 for displaying, for example, the source code string of the motion program template. The second data editing screen display unit 123 displays, for example, a source code string in the source code input field 701 that includes an incomplete source code string where the values ​​of the variables described above are missing, based on input from the user using the operation unit 54.

[0042] Returning to Figure 2, the first data acquisition unit 131 acquires variable list data corresponding to the operating mode of the FA equipment 300 selected by the user from the variable list data pre-stored in the first data storage unit 111. When any operating mode is selected by the user using the operation unit 54 in the operating mode selection field 501 of the operating mode selection screen 500 shown in Figure 5, which is displayed by the operating mode selection screen display unit 121, the first data acquisition unit 131 extracts variable list data corresponding to the selected operating mode from the first data storage unit 111. Furthermore, when the first data editing screen display unit 122 displays the first data editing screen 600, the first data acquisition unit 131 displays the variable values ​​indicated by the extracted variable list data as the initial values ​​in the initial value input field 602. For example, if the user selects "JOG driving" as the driving mode, the first data acquisition unit 131 extracts variable list data corresponding to "JOG driving" from the first data storage unit 111, and displays the variable values ​​indicated by the extracted variable list data corresponding to "JOG driving" as the initial values ​​in the initial value input field 602 of the first data editing screen 600.

[0043] Returning to Figure 2, the second data acquisition unit 132 acquires motion program template data corresponding to the operating mode of the FA equipment 300 selected by the user from among the motion program template data pre-stored in the second data storage unit 112. When any operating mode is selected by the user using the operation unit 54 in the operating mode selection field 501 of the operating mode selection screen 500 shown in Figure 5, which is displayed by the operating mode selection screen display unit 121, the second data acquisition unit 132 extracts motion program template data corresponding to the selected operating mode from the second data storage unit 112. Furthermore, when the second data editing screen display unit 123 displays the second data editing screen 700, the second data acquisition unit 132 displays the string of source code indicated by the extracted motion program template data in the source code input field 701. For example, if the user selects "JOG driving" as the driving mode, the second data acquisition unit 132 extracts motion program template data corresponding to "JOG driving" from the second data storage unit 112, and displays the source code string indicated by the extracted motion program template data in the source code input field 701 of the second data editing screen 700.

[0044] Returning to Figure 2, the first data generation unit 141 generates variable list data based on the data entered by the user. For example, the first data generation unit 141 generates new variable list data based on the data entered by the user using the operation unit 54 on the first data editing screen 600 displayed by the first data editing screen display unit 122, and stores the newly generated variable list data in the first data storage unit 111.

[0045] The second data generation unit 142 generates motion program template data based on data input from the user. For example, the second data generation unit 142 generates new motion program template data based on data input by the user using the operation unit 54 on the second data editing screen 700 displayed by the second data editing screen display unit 123, and stores the newly generated motion program template data in the second data storage unit 112.

[0046] The first data update unit 143 updates the variable list data based on data entered by the user. For example, if the first data editing screen display unit 122 is displaying the values ​​of the variables indicated in the variable list data stored in the first data storage unit 111 in the initial value input field 602 of the first data editing screen 600, the first data update unit 143 updates the variable list data with the data entered by the user in the initial value input field 602 using the operation unit 54, and causes the first data storage unit 111 to update its storage with the newly updated variable list data.

[0047] The second data update unit 144 updates the motion program template data based on data entered by the user. For example, if the second data editing screen display unit 123 is displaying the source code string indicated by the motion program template data stored in the second data storage unit 112 in the source code input field 701 of the second data editing screen 700, the second data update unit 144 updates the motion program template data with the data entered by the user in the source code input field 701 using the operation unit 54, and causes the second data storage unit 112 to update its storage with the newly updated motion program template data.

[0048] The motion data generation unit 145 generates motion data corresponding to the operating mode selected by the user, based on the variable list data acquired by the first data acquisition unit 131 and the motion program template data acquired by the second data acquisition unit 132. The motion data generation unit 145 generates motion data including the generated motion program by inputting the values ​​of the variables corresponding to the input locations of the variable names and values ​​shown in the list of variable names and values ​​shown in the program generation variable list data into the input locations of the variable values ​​of the motion program template shown in the motion program template data. Here, the motion program included in the motion data is the execution data of the motion program executed by the FA control device 200. Therefore, as shown in Figure 8, the motion data is data that includes at least the execution data of the motion program, the environment setting variable list data, and identification data used to identify various types of motion data. If the motion program template data acquired by the second data acquisition unit 132 includes template data for an auxiliary program of the motion program, the motion data also includes the execution data of the auxiliary program.

[0049] Returning to Figure 2, the motion data generation unit 145 starts generating motion data when the user presses the OK button 507 on the driving mode selection screen 500 shown in Figure 5, which is displayed on the driving mode selection screen display unit 121, using input from the operation unit 54. For example, consider the case where "JOG driving" is displayed in the driving mode selection field 501 and "Yes" is selected in the output selection field 503, and the OK button 507 is pressed. In this case, the motion data generation unit 145 generates a motion program corresponding to "JOG driving" by inputting the variable values ​​corresponding to the input fields of the motion program template shown in the motion program template data corresponding to "JOG driving", by inputting the variable values ​​extracted from the list of variable names and values ​​shown in the program generation variable list data included in the variable list data corresponding to "JOG driving".

[0050] For example, as shown in Figure 7B, the motion data generation unit 145 generates a complete source code string in which all the variable values ​​corresponding to the input locations of the variable values ​​shown in Figure 7A are entered, such as " / / Servo ON 1 axis (...newline...)MC_Power_1 ((...newline...) / / Input / output variables (...newline...)Axis:= Axis0001.AxisRef , / / Axis information (...newline...) / / Input variables (...newline...)Enable:= TRUE , / / Enabled (...newline...)ServoOn:= G_bSRVONCMD, / / Servo ON request (...newline...) / / Output variables (...newline...)Status => G_bStatusPower1 / / Operation possible (...newline...)); (...omitted...)" and compiles this source code to generate execution data for the motion program. The motion data generation unit 145 then generates motion data corresponding to the generated "JOG operation," which includes at least execution data of the motion program corresponding to the "JOG operation," environment setting variable list data included in the variable list data corresponding to the "JOG operation," and identification data.

[0051] Furthermore, if the motion program template data includes template data for an auxiliary program of the motion program, the motion data generation unit 145 also generates an auxiliary program corresponding to "JOG driving" by inputting the variable values ​​corresponding to the input locations of the auxiliary program template, extracted from the list of variable names and values ​​indicated by the program generation variable list data included in the variable list data corresponding to "JOG driving". In this case, the motion data generation unit 145 generates motion data corresponding to "JOG driving" that includes at least the execution data of the generated motion program and auxiliary program corresponding to "JOG driving", the environment setting variable list data included in the variable list data corresponding to "JOG driving", and identification data.

[0052] Returning to Figure 2, the data output unit 150 outputs the motion data generated by the motion data generation unit 145 to the FA control device 200. The data output unit 150 outputs the motion data generated by the motion data generation unit 145 to the FA control device 200 when the user presses the OK button 507 by input using the operation unit 54 while "Yes" is displayed in the output selection field 503 of the driving mode selection screen 500 shown in Figure 5, which is displayed by the driving mode selection screen display unit 121. For example, if "JOG driving" is displayed in the driving mode selection field 501 and "Yes" is selected in the output selection field 503, and the user presses the OK button 507, the data output unit 150 outputs the motion data generated by the motion data generation unit 145 corresponding to "JOG driving" to the FA control device 200.

[0053] (Details of the functional configuration of the FA control device 200) The data acquisition unit 201 of the central control unit 210 acquires motion data output by the motion data generation device 100. The motion control unit 203 of the central control unit 210 outputs the acquired motion data to the motion control unit 220. The data acquisition unit 201 of the motion control unit 220 acquires the motion data output by the central control unit 210 and stores it in the data storage unit 202 of the motion control unit 220. At this time, if the data storage unit 202 of the motion control unit 220 already stores motion data with the same identification data, it updates the storage of the motion data with the same identification data using the newly acquired motion data from the data acquisition unit 201.

[0054] The motion control unit 203 of the motion control unit 220 controls the operation of the FA equipment 300 by outputting a control signal to the FA equipment 300 using motion data stored in the data storage unit 202 of the motion control unit 220. For example, consider the case where the motion control unit 203 of the motion control unit 220 controls the operation of the FA equipment 300 using motion data corresponding to "JOG operation" stored in the data storage unit 202 of the motion control unit 220. In this case, the motion control unit 203 of the motion control unit 220 sets the environment of the FA control device 200 using environment setting variable list data corresponding to "JOG operation" included in the motion data. Then, the motion control unit 203 of the motion control unit 220 starts controlling the operation of the FA equipment 300 using the execution data of the motion program corresponding to "JOG operation" included in the motion data, and outputs a control signal to the FA equipment 300 to make the FA equipment 300 perform JOG operation.

[0055] (Regarding motion data generation process) Next, the operation of the motion data generation device 100 in generating and outputting motion data will be explained using a flowchart. When the motion data generation device 100 receives input from the user requesting the generation of motion data using the operation unit 54, it starts executing the motion data generation process shown in Figure 9. First, the driving mode selection screen display unit 121 displays the driving mode selection screen 500 shown in Figure 5 (step S101), and the motion data generation device 100 determines whether the driving mode selected by the user using the operation unit 54 is displayed in the driving mode selection field 501 (step S102). If the driving mode selected by the user is not displayed (step S102; N), the motion data generation device 100 repeats the process in step S102 until the driving mode selected by the user is displayed.

[0056] On the other hand, if the driving mode selected by the user is displayed (step S102; Y), the first data acquisition unit 131 extracts variable list data corresponding to the selected driving mode from the first data storage unit 111 (step S103), and the second data acquisition unit 132 extracts motion program template data corresponding to the selected driving mode from the second data storage unit 112 (step S104). For example, if "JOG driving" selected by the user is displayed in the driving mode selection field 501, the first data acquisition unit 131 extracts variable list data corresponding to "JOG driving" from the first data storage unit 111, and the second data acquisition unit 132 extracts motion program template data corresponding to "JOG driving" from the second data storage unit 112. After data extraction, the motion data generation device 100 determines whether the user has pressed the OK button 507 by input using the operation unit 54 while "Yes" is displayed in the output selection field 503 (step S105). If the user has not pressed the OK button 507 (step S105;N), the motion data generation device 100 performs the first data update process shown in Figure 10, which will be described later, to update the variable list data (step S106), and then returns to step S105.

[0057] On the other hand, if the user presses the OK button 507 (step S105; Y), the motion data generation unit 145 generates motion data corresponding to the selected driving mode based on the extracted variable list data and motion program template data (step S107). For example, the motion data generation unit 145 generates execution data for a motion program corresponding to "JOG driving" by inputting the variable values ​​corresponding to the input locations of the variable template of the motion program template indicated by the motion program template data corresponding to "JOG driving" into the input locations of the variable values ​​extracted from the list of variable names and values ​​indicated by the program generation variable list data included in the variable list data corresponding to "JOG driving". Then, the motion data generation unit 145 generates motion data corresponding to "JOG driving" that includes at least the generated execution data for a motion program corresponding to "JOG driving", the environment setting variable list data included in the variable list data corresponding to "JOG driving", and identification data.

[0058] After generating motion data, the data output unit 150 outputs the generated motion data to the FA control device 200 (step S108), and the process ends. For example, the data output unit 150 outputs motion data corresponding to "JOG operation" to the FA control device 200, and the process ends.

[0059] (Regarding the first data update process) Next, the operation by which the motion data generation device 100 updates the variable list data will be explained using a flowchart. When the motion data generation device 100 executes step S106 of the motion data generation process described above, it starts executing the first data update process shown in Figure 10. First, the motion data generation device 100 determines whether "Yes" is displayed in the initial value editing field 502 by input using the operation unit 54 (step S201). If "No" is displayed (step S201;N), the motion data generation device 100 terminates the process, while if "Yes" is displayed (step S201;Y), it determines whether the user has selected any of the "<Advanced Settings>" links in the advanced settings selection field 504 by input using the operation unit 54 (step S202).

[0060] If the "<Advanced Settings>" link is not selected (step S202;N), the motion data generation device 100 terminates processing and returns to step S105 of the motion data generation process. On the other hand, if the "<Advanced Settings>" link is selected (step S202;Y), the first data editing screen display unit 122 displays the first data editing screen 600 (step S203). For example, if "JOG operation" is displayed in the operation mode selection field 501 and the user selects the "<Advanced Settings>" link below "Axis Information" in the advanced settings selection field 504, the first data editing screen display unit 122 displays the first data editing screen 600 shown in Figure 6A. At this time, the first data acquisition unit 131 displays the variable values ​​indicated by the extracted variable list data as the initial values ​​in the initial value input field 602.

[0061] After the screen is displayed, the first data editing screen display unit 122 determines whether the user has changed the initial value by input using the operation unit 54 (step S204). If the initial value has been changed (step S204; Y), the first data editing screen display unit 122 updates the display of the initial value in the initial value input field 602 to the changed value (step S205). After the initial value has been changed, or if the initial value has not been changed (step S204; N), the motion data generation device 100 determines whether the user has pressed the apply button 604 by input using the operation unit 54 (step S206). If the apply button 604 has not been pressed (step S206; N), the motion data generation device 100 returns to step S204 and repeats the processing of steps S204 to S206. On the other hand, if the apply button 604 is pressed (step S206; Y), the first data update unit 143 updates the variable list data with the data entered by the user in the initial value input field 602 using the operation unit 54 (step S207), updates the first data storage unit 111 with the newly updated variable list data (step S208), terminates the process, and returns to step S105 of the motion data generation process.

[0062] (Regarding the second data update process) Regarding the operation of the motion data generation device 100 to update the motion program template data, first, the second data editing screen display unit 123 receives user input and displays the second data editing screen 700. Then, when the string of source code displayed in the source code input field 701 is changed by the user's input, the second data update unit 144 updates the motion program template data and simply causes the second data storage unit 112 to update its storage with the newly updated motion program template data.

[0063] (Regarding the first data generation process, the second data generation process, and the operation control process) Furthermore, regarding the process by which the motion data generation device 100 generates new variable list data, the first data generation unit 141 simply generates variable list data based on data entered by the user on a data editing screen such as the first data editing screen 600, and stores it in the first data storage unit 111. Similarly, regarding the process by which the motion data generation device 100 generates new motion program template data, the second data generation unit 142 simply generates motion program template data based on data entered by the user on a data editing screen such as the second data editing screen 700, and stores it in the second data storage unit 112. Finally, regarding the process by which the FA control device 200 controls the operation of the FA equipment 300, the central control unit 210 simply outputs the motion data acquired from the motion data generation device 100 to the operation control unit 220, and the operation control unit 220 uses the acquired and stored motion data to output control signals to the FA equipment 300. Therefore, to reduce redundant explanations, diagrams and detailed explanations of these processes will be omitted.

[0064] As described above, according to the motion data generation device 100 of this embodiment, the first data acquisition unit 131 acquires variable list data corresponding to the operating mode of the FA equipment 300 selected by the user from the first data storage unit 111, which has in advance stored variable list data used by the FA control device 200 when controlling the operation of the FA equipment 300. The second data acquisition unit 132 acquires motion program template data corresponding to the operating mode of the FA equipment 300 selected by the user from the second data storage unit 112, which has in advance stored motion program template data used by the FA control device 200 for controlling the operation of the FA equipment 300. Then, the motion data generation unit 145 generates motion data corresponding to the operating mode of the FA equipment 300 selected by the user based on the acquired variable list data and motion program template data.

[0065] In this way, the motion data generation device 100 according to this embodiment can reduce the user's workload when building a system to control the operation of FA equipment 300 compared to a motion data generation device that does not automatically generate motion data according to the operating mode selected by the user based on pre-stored variable list data and motion program template data.

[0066] In particular, according to the motion data generation device 100 of this embodiment, the variable list data includes program generation variable list data that shows a list of names and values ​​of program generation variables used to generate a motion program. The motion data generation unit 145 generates a motion program by inputting the values ​​of the program generation variables corresponding to the input locations of the variable values ​​in the motion program template shown in the motion program template data, extracted from the list of names and values ​​of program generation variables shown in the program generation variable list data, and generating motion data including the generated motion program.

[0067] In this way, the motion data generation device 100 according to this embodiment makes it easier to generate motion data than a motion data generation device that does not automatically generate a motion program by inputting values ​​of program generation variables corresponding to the input locations of variable values ​​in the motion program template. As a result, the motion data generation device 100 according to this embodiment can further reduce the workload of the user when building a system to control the operation of FA equipment 300.

[0068] Furthermore, according to the motion data generation device 100 of this embodiment, the variable list data includes environment setting variable list data that shows a list of names and values ​​of environment setting variables used for setting the environment of the FA control device 200 required to execute the motion program.The motion data generation unit 145 then generates motion data that includes the execution data of the motion program and the environment setting variable list data included in the variable list data.

[0069] In this way, the motion control unit 203 of the motion control unit 220 can perform environmental settings for the FA control device 200 using the environmental setting variable list data included in the motion data. As a result, the motion data generation device 100 according to this embodiment can further reduce the user's workload when building a system to control the operation of FA equipment 300 compared to a motion data generation device that does not generate motion data including environmental setting variable list data.

[0070] Furthermore, according to the motion data generation device 100 of this embodiment, the first data generation unit 141 generates variable list data based on data input from the user, and the first data update unit 143 updates the variable list data based on data input from the user.

[0071] In this way, the user can generate new variable list data or edit already generated variable list data. As a result, the motion data generation device 100 according to this embodiment allows the user to arbitrarily customize the variable list data and store it in advance in the first data storage unit 111. As a result, the motion data generation device 100 according to this embodiment makes it easier to generate motion data than a motion data generation device in which the user cannot arbitrarily customize the variable list data, and further reduces the workload on the user when building a system to control the operation of FA equipment 300.

[0072] Furthermore, according to the motion data generation device 100 of this embodiment, the variable list data includes data indicating default values ​​predetermined as initial values ​​for the variables, and the first data update unit 143 updates the variable list data by changing the data indicating default values ​​based on data input from the user.

[0073] In this way, the first data generation unit 141 can automatically generate variable list data using default values ​​without the user inputting any data, and the first data update unit 143 can modify the variable list data automatically generated using default values ​​with data entered by the user. As a result, the motion data generation device 100 according to this embodiment makes it easier to generate variable list data than a motion data generation device that does not automatically generate variable list data using default values. Furthermore, the motion data generation device 100 according to this embodiment makes it easier for the user to edit the variable list data than a motion data generation device that does not update the variable list data by the user changing the data indicating default values, making it easier to arbitrarily customize the variable list data. As a result, the motion data generation device 100 according to this embodiment makes it even easier to generate motion data, and can further reduce the workload on the user when building a system to control the operation of FA equipment 300.

[0074] Furthermore, according to the motion data generation device 100 of this embodiment, the second data generation unit 142 generates motion program template data based on data input from the user, and the second data update unit 144 updates the motion program template data based on data input from the user.

[0075] In this way, the user can generate new motion program template data or edit motion program template data that has already been generated. As a result, the motion data generation device 100 according to this embodiment allows the user to arbitrarily customize the motion program template data and store it in advance in the second data storage unit 112. As a result, the motion data generation device 100 according to this embodiment makes it easier to generate motion data than a motion data generation device in which the user cannot arbitrarily customize the motion program template data, and further reduces the workload on the user when building a system to control the operation of FA equipment 300.

[0076] Furthermore, according to the motion data generation device 100 of this embodiment, the motion program template data may also include template data for auxiliary programs of the motion program.

[0077] In this way, the motion data generation unit 145 can generate motion data that includes not only the execution data of the motion program but also the execution data of the auxiliary programs of the motion program. As a result, the motion data generation device 100 according to this embodiment can further reduce the workload of the user when building a system to control the operation of FA equipment 300 compared to a motion data generation device that cannot generate motion data that includes the execution data of the auxiliary programs of the motion program.

[0078] (Example of change) As described in the above embodiment, it is preferable to construct a system in which the motion data generation device 100 and the FA control device 200 are separate entities, and motion data generated by the motion data generation device 100, such as a user's PC (Personal Computer), can be output to the FA control device 200, but the system is not limited to this. For example, the motion data generation device 100 and the FA control device 200 may be an integrated device, and the FA control device 200 may include all of the above-described functions of the motion data generation device 100.

[0079] In the above embodiment, the FA control device 200 indirectly controlled the operation of the FA equipment 300 by performing control instructed by the central control unit 210 to the operation control unit 220. However, the invention is not limited to this, and the central control unit 210 may directly control the operation of the FA equipment 300 in the same manner as the operation control unit 220.

[0080] In the above embodiment, the FA control device 200 is configured with the central control unit 210 and the operation control unit 220 as separate components. However, it is not limited to this configuration, and the central control unit 210 and the operation control unit 220 may be configured as an integrated unit. For example, the central control unit 210 may include all of the functions of the operation control unit 220 described above.

[0081] In the above embodiment, the first data storage unit 111, which stores variable list data in advance, and the second data storage unit 112, which stores motion program template data in advance, are configured by the external storage unit 53 of the motion data generation device 100, but the device is not limited to this. For example, they may be configured by an external database server separate from the motion data generation device 100. In this case, each data acquisition unit 131, 132 will acquire variable list data and motion program template data from an external database server, for example, via the Internet 400.

[0082] In the above embodiment, the first data storage unit 111, which stores variable list data in advance, and the second data storage unit 112, which stores motion program template data in advance, are integrated into the same storage device included in the external storage unit 53 of the motion data generation device 100. However, the embodiment is not limited to this. For example, the first data storage unit 111 may be configured as the first storage device of the external storage unit 53, and the second data storage unit 112 as the second storage device of the external storage unit 53, as separate components. Alternatively, for example, the first data storage unit 111 may be configured as an external first database server, and the second data storage unit 112 as an external second database server, as separate components.

[0083] In the above embodiment, only operations that fall under the control of a lower-level concept such as "JOG operation" can be selected from the operation mode selection field 501 of the operation mode selection screen 500 shown in Figure 5, but the system is not limited to this. For example, instead of the operation mode selection field 501, a first operation mode selection field and a second operation mode selection field may be provided, and when an operation that falls under the control of a higher-level concept such as "positioning" is selected in the first operation mode selection field, operations that fall under the control of a lower-level concept of "positioning," such as "JOG operation," may be selected in the second operation mode selection field.

[0084] In this embodiment, the variable list data pre-stored in the first data storage unit 111 is either data automatically generated by the motion data generation program or data manually generated and updated by the user, but is not limited to this. For example, the variable list data pre-stored in the first data storage unit 111 may be data manually generated and updated by the provider of the system that controls the operation of the FA equipment 300, such as the manufacturer of the FA control device 200 or the manufacturer of the FA equipment 300. Also, in this embodiment, the motion program template data pre-stored in the second data storage unit 112 is either data automatically generated by the motion data generation program or data manually generated and updated by the user, but is not limited to this. For example, the motion program template data pre-stored in the second data storage unit 112 may be data manually generated and updated by the provider of the system mentioned above.

[0085] Furthermore, the core processing portion of the motion data generation device 100, which includes a control unit 51, main memory unit 52, external memory unit 53, operation unit 54, display unit 55, transmission / reception unit 56, internal bus 50, etc., can be implemented using a normal computer system, not a dedicated system. For example, a motion data generation program, which is a computer program for executing the above operations, may be stored in a computer-readable recording medium, such as flash memory or DVD-ROM (Read-Only Memory), and distributed, and a computer that performs the above processing may be configured by installing the motion data generation program. Alternatively, the motion data generation program may be stored in a storage device on a server device on a communication network such as a LAN 410 or the Internet 400, and a computer may be configured by downloading it from a normal computer system.

[0086] Furthermore, if the functions of the motion data generation device 100 are realized through a division of labor between the OS (Operating System) and the application program, or through cooperation between the OS and the application program, only the application program portion may be stored on the recording medium or storage device.

[0087] Furthermore, it is possible to superimpose a motion data generation program onto the carrier wave and provide it via a communication network. For example, the motion data generation program may be posted on a bulletin board system (BBS) on the communication network and provided via the network. The motion data generation program may then be launched and executed under the control of the OS, similar to other application programs, thereby executing the aforementioned process.

[0088] This disclosure allows for various embodiments and modifications without departing from the broad spirit and scope of this disclosure. Furthermore, the embodiments described above are for illustrative purposes only and do not limit the scope of this disclosure. In other words, the scope of this disclosure is indicated by the claims, not by the embodiments. Various modifications made within the scope of the claims and the equivalent significance of the disclosure are considered to be within the scope of this disclosure. [Explanation of Symbols]

[0089] 50...Internal bus, 51...Control unit, 52...Main memory unit, 53...External memory unit, 54...Operation unit, 55...Display unit, 56...Transmit / receive unit, 59...Control program, 100...Motion data generation device, 110...Data storage unit, 111...First data storage unit, 112...Second data storage unit, 120...Data display unit, 121...Operation mode selection screen display unit, 122...First data editing screen display unit, 123...Second data editing screen display unit, 130...Data acquisition unit, 131...First data acquisition unit, 132...Second data acquisition unit, 140...Data generation unit, 141...First data generation unit, 142...Second data generation unit, 143...First data update unit, 144...Second data update unit, 145...Motion data generation unit ,150...Data output unit, 200...FA control unit, 201...Data acquisition unit, 202...Data storage unit, 203...Operation control unit, 210...Central control unit, 220...Operation control unit, 230...External bus, 300...FA equipment, 400...Internet, 410...LAN, 500...Operation mode selection screen, 501...Operation mode selection field, 502...Initial value editing field, 503...Output selection field, 504...Detailed setting selection field, 505...Description display field, 506...Image display field, 507...OK button, 600...First data editing screen, 601...Item selection field, 602...Initial value input field, 603...Description display field, 604...Apply button, 700...Second data editing screen, 701...Source code input field.

Claims

1. Computers, A first data acquisition unit acquires variable list data from a first storage device that pre-stores variable list data showing a list of variable names and values ​​used by a programmable logic controller when controlling the operation of an external device, according to the operating mode of the external device selected by the user. A second data acquisition unit acquires motion program template data corresponding to the operating mode selected by the user from a second storage device which pre-stores motion program template data including motion program template data used by the programmable logic controller to control the operation of the external device. A motion data generation unit generates motion data including the motion program corresponding to the driving mode selected by the user, based on the acquired variable list data and the motion program template data. A motion data generation program that functions as such.

2. The aforementioned variable list data includes program generation variable list data, which is data showing a list of names and values ​​of program generation variables, which are the variables used to generate the motion program. The motion data generation unit generates the motion data, including the generated motion program, by inputting the values ​​of the program generation variables corresponding to the input locations of the variable values ​​of the motion program template indicated by the motion program template data, extracted from the list of names and values ​​of the program generation variables indicated by the program generation variable list data, into the input locations of the variable values ​​of the motion program template indicated by the motion program template data, thereby generating the motion program. The motion data generation program according to claim 1.

3. The aforementioned computer, A first data generation unit generates the variable list data based on data entered by the user. A first data update unit updates the variable list data based on data entered by the user. To make it function even better A motion data generation program according to claim 1 or 2.

4. The aforementioned variable list data includes data indicating predetermined reference values ​​as initial values ​​for the aforementioned variables. The first data update unit updates the variable list data by changing the data indicating the reference value based on the data entered by the user. The motion data generation program according to claim 3.

5. The aforementioned computer, A second data generation unit generates the motion program template data based on data input from the user. A second data update unit updates the motion program template data based on data input by the user. To make it function even better The motion data generation program according to claim 1.

6. The motion program template data includes template data for an auxiliary program that assists the motion program. The motion data generation program according to claim 1.

7. A motion data generation device that generates motion data, which is data including a motion program used by a programmable logic controller to control the operation of an external device, A first data acquisition unit acquires variable list data corresponding to the operating mode of the external device selected by the user from a first storage device which has in advance stored variable list data showing a list of names and values ​​of variables used by the programmable logic controller when controlling the operation of the external device, A second data acquisition unit acquires motion program template data corresponding to the operating mode selected by the user from a second storage device that pre-stores motion program template data including the data of the motion program template, A motion data generation unit generates motion data corresponding to the operating mode selected by the user, based on the acquired variable list data and the motion program template data. A motion data generation device equipped with the following features.

8. A first data acquisition step in which a computer acquires variable list data from a first storage device that pre-stores variable list data showing a list of names and values ​​of variables used by a programmable logic controller when controlling the operation of an external device, according to the operating mode of the external device selected by the user. The computer performs a second data acquisition step in which it acquires motion program template data corresponding to the operating mode selected by the user from a second storage device that pre-stores motion program template data including motion program template data used by the programmable logic controller to control the operation of the external device, Motion data generation step: The computer generates motion data including the motion program corresponding to the driving mode selected by the user, based on the acquired variable list data and the motion program template data. A method for generating motion data, including the data itself.

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