MOTION PREDICTION PROGRAM, MOTION PREDICTION DEVICE, AND MOTION PREDICTION METHOD

Abstract

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

Description

[Technical field]

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

[0002] Conventionally, a program is known that functions as a motion prediction display device that predicts the motion of a controlled object when a control program that controls the motion of the controlled object is executed, and displays the trajectory of the predicted motion, i.e., displays a so-called waveform. Patent Document 1 discloses a program that functions as a display device that can display the error between a command position, which is a commanded position of a specific part of the controlled object corresponding to a command value when a motion program is executed, and a predicted position, which is a theoretically predicted position of the specific part of the actual controlled object. In Patent Document 1, a user, who is a control person, performs control programming, compiles a sequence program to generate an executable file, and simulates various set parameters, and if the error between the predicted position obtained by the simulation and the command position exceeds an allowable range, the user modifies the sequence program or modifies various parameters. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2011-192017 A Summary of the Invention [Problem to be solved by the invention]

[0004] The program described in Patent Document 1 has a problem that a predicted position cannot be obtained by performing a simulation unless an executable file generated by compiling a sequence program is used. Therefore, in order to check the error between the predicted position and the command position for some of the movements of the controlled object, the control person in the program described in Patent Document 1 needs to complete the sequence program to a level where it can be compiled and define all the movements of the controlled object. As a result, the program described in Patent Document 1 has a problem that the control person needs to take time and effort to check the above-mentioned error, which increases the labor required to adjust the control programming.

[0005] The present disclosure has been made in consideration of the above-mentioned circumstances, and aims to reduce the amount of work required to adjust a control program. [Means for solving the problem]

[0006] In order to achieve the above objectives, Show The operation prediction program causes a computer to function as an operation prediction target information acquisition unit that acquires operation prediction target information, which is information including control program information that is information based on one or more commands of the control program selected by a user from among a plurality of commands constituting a routine of the control program that controls the operation of the control target, and which is information regarding an operation to be predicted among the operations of the control target; an operation prediction result information generation unit that generates operation prediction result information, which is information indicating a result of predicting the operation of the control target, based on the operation prediction target information acquired by the operation prediction target information acquisition unit; and an operation prediction result information output unit that outputs the operation prediction result information generated by the operation prediction result information generation unit, and the operation prediction result information generation unit generates the operation prediction result information using program parts included in a sentence recognized by parsing a sentence of a command of the control program indicated by the control program information based on the programming language of the control program, without compiling the sentence. 。 Effect of the Invention

[0007] According to the present disclosure, a computer acquires operation prediction target information including control program information based on one or more commands of a control program selected by a user, and generates and outputs operation prediction result information based on the acquired operation prediction target information. As a result, the operation prediction program according to the present disclosure can reduce the man-hours required for adjusting a control program compared to an operation prediction program that does not acquire operation prediction target information including control program information based on one or more commands of a control program selected by a user, or an operation prediction program that cannot generate and output operation prediction result information based on the acquired operation prediction target information. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is an overall explanatory diagram of a control program creation support device according to an embodiment of the present invention; [Diagram 2] FIG. 1 is a diagram showing a functional configuration of a control program creation support device. [Diagram 3] A block diagram showing the hardware configuration of a control program creation support device. [Figure 4A] A diagram showing an example of the program editing screen [Figure 4B] A diagram showing an example of the initial settings screen [Figure 4C] A diagram showing an example of a display of a motion prediction result screen. [Diagram 5] Flowchart of motion prediction result screen display process [Figure 6] Flowchart of control program analysis process [Figure 7] Flowchart of motion prediction calculation process [Figure 8] Flowchart of predicted waveform update process DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, a motion prediction program, a motion prediction device, and a motion prediction method according to embodiments of the present disclosure will be described in detail with reference to the drawings. Note that the same or corresponding parts in the drawings are denoted by the same reference numerals.

[0010] (Regarding the control program creation support device 10) A control program creation support device 10 according to an embodiment of the present disclosure is a device that supports creation of a control program used in an FA (Factory Automation) control device 20 including a programmable logic controller (PLC), as shown in FIG. 1. The control program is a program that controls the operation of a control object, such as a drive shaft 22 of an FA device 21. The control program creation support device 10 also has a function as an operation prediction device 100 that predicts the operation of the control object when a control program created by a user is executed (hereinafter, simply referred to as the "operation prediction device 100"). The control program creation support device 10 is also capable of transmitting and receiving information to and from an external device 40 via the Internet 30, which is an example of a communication network.

[0011] Specifically, the control program creation support device 10 is a computer device in which an engineering setting tool program, which is a program for implementing the functions of a setting tool used by a user who is an engineer, is installed. As shown in Fig. 2, the control program creation support device 10 includes a program editing unit 11 for editing a program, and the program editing unit 11 includes a program editing screen display unit 13 for displaying a program editing screen 12, which is a screen for editing a program, as shown in Fig. 4A. The control program creation support device 10 also includes an initial setting unit 14 for setting initial values ​​of variables included in the program, and the initial setting unit 14 includes an initial setting screen display unit 16 for displaying an initial setting screen 15, which is a screen for setting initial values ​​of variables, as shown in Fig. 4B.

[0012] (Regarding the motion prediction device 100) The motion prediction device 100 also includes a motion prediction target information acquisition unit 110 that acquires motion prediction target information, which is information on motions to be predicted among the motions of the control target, a motion prediction result information generation unit 120 that generates motion prediction result information that predicts the motion of the control target, and a motion prediction result information output unit 130 that outputs the motion prediction result information. The motion prediction target information acquisition unit 110 includes a control program information acquisition unit 111 that acquires control program information described later, and an initial setting information acquisition unit 112 that acquires initial setting information described later. The motion prediction result information generation unit 120 includes a control program analysis unit 121 that analyzes the control program, a motion prediction calculation unit 122 that calculates a predicted value of the trajectory of the motion of the control target, and a predicted waveform information generation unit 123 that generates predicted waveform information described later. The motion prediction result information output unit 130 includes a motion prediction result screen display unit 131 that displays a motion prediction result screen 200 described later, a predicted waveform information display unit 132 that displays predicted waveform information described later, and a variable display unit 133 that displays variables included in the control program and their values. In addition, the motion prediction result information output unit 130 includes a file format conversion unit 134 that converts the file format of the predicted waveform information described below, and an export unit 135 as an example of a motion prediction result information external output unit that outputs the motion prediction result information to the outside.

[0013] (Hardware configuration of the control program creation support device 10 and the operation prediction device 100) 3, the control program creation support device 10 includes a control unit 51 that executes processing according to a control program 59. The control unit 51 includes a CPU (Central Processing Unit). In accordance with the control program 59, the control unit 51 functions as the program editing unit 11, the initial setting unit 14, the operation prediction target information acquisition unit 110, the control program information acquisition unit 111, the initial setting information acquisition unit 112, the operation prediction result information generation unit 120, the control program analysis unit 121, the operation prediction calculation unit 122, the predicted waveform information generation unit 123, and the file format conversion unit 134 shown in FIG.

[0014] 3, the control program creation support device 10 includes a main storage unit 52 into which the control program 59 is loaded and which is used as a working area for the control unit 51. The main storage unit 52 includes a RAM (Random Access Memory).

[0015] The control program creation support device 10 also includes an external storage unit 53 that prestores a control program 59. The external storage unit 53 supplies data to be stored by this program to the control unit 51 in accordance with an instruction from the control unit 51, and stores the data supplied from the control unit 51. The external storage unit 53 includes a non-volatile memory such as a flash memory, a hard disk drive (HDD), or a solid state drive (SSD).

[0016] The control program creation support device 10 also includes an operation unit 54 that is operated by a user. Information input via the operation unit 54 is supplied to the control unit 51. The operation unit 54 includes information input components such as a keyboard, a mouse, and a touch panel.

[0017] The control program creation support device 10 also 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 includes a display device such as an LCD (Liquid Crystal Display) or an organic EL (Electro-Luminescence) display. The display unit 55 functions as the program editing screen display unit 13, the initial setting screen display unit 16, the operation prediction result information output unit 130, the operation prediction result screen display unit 131, the predicted waveform information display unit 132, and the variable display unit 133 shown in FIG.

[0018] 3, the control program creation support device 10 includes a transmission / reception unit 56 that transmits and receives information. The transmission / reception unit 56 includes information communication components such as a communication network terminal device that connects to a network and a wireless communication device. The transmission / reception unit 56 functions as the export unit 135 shown in FIG.

[0019] Returning to FIG. 3, in the control program creation support device 10 , the main memory unit 52 , the external memory unit 53 , the operation unit 54 , the display unit 55 and the transmission / reception unit 56 are all connected to the control unit 51 via the internal bus 50 .

[0020] 2 by the control unit 51 using the main memory unit 52, the external memory unit 53, the operation unit 54, the display unit 55, and the transmission / reception unit 56 as resources. For example, the control program creation support device 10 executes a program editing step performed by the program editing unit 11, a program editing screen display step performed by the program editing screen display unit 13, an initial setting step performed by the initial setting unit 14, and an initial setting screen display step performed by the initial setting screen display unit 16.

[0021] Also, for example, the operation prediction device 100 executes an operation prediction target information acquisition step performed by the operation prediction target information acquisition unit 110, a control program information acquisition step performed by the control program information acquisition unit 111, and an initial setting information acquisition step performed by the initial setting information acquisition unit 112. Also, for example, the operation prediction device 100 executes an operation prediction result information generation step performed by the operation prediction result information generation unit 120, a control program analysis step performed by the control program analysis unit 121, an operation prediction calculation step performed by the operation prediction calculation unit 122, and a predicted waveform information generation step performed by the predicted waveform information generation unit 123. Also, for example, the operation prediction device 100 executes an operation prediction result information output step performed by the operation prediction result information output unit 130, an operation prediction result screen display step performed by the operation prediction result screen display unit 131, a predicted waveform information display step performed by the predicted waveform information display unit 132, and a variable display step performed by the variable display unit 133. Furthermore, the operation prediction device 100 executes a file format conversion step performed by the file format conversion unit 134, and an export step performed by the export unit 135 as an example of an operation prediction result information external output step.

[0022] (Details of Functional Configuration of Action Prediction Device 100) Returning to Figure 2, the operation prediction target information acquisition unit 110 acquires operation prediction target information including the control program information described later acquired by the control program information acquisition unit 111, the initial setting information described later acquired by the initial setting information acquisition unit 112, total predicted time information described later, and prediction interval information described later.

[0023] The control program information acquisition unit 111 acquires control program information based on one or more commands of a control program selected by a user when one command among a plurality of commands constituting a routine of the control program is the minimum unit selectable by the user. The control program information acquisition unit 111 acquires control program information indicating one or more commands selected by the user from among a plurality of commands of the control program edited in the program editing unit 11. Specifically, the control program information acquisition unit 111 acquires the control program information selected by the user by extracting, as control program information, information indicating a portion of a range selected by the user using the operation unit 54 from the control program displayed on the program editing screen 12 shown in FIG. 4A displayed by the program editing screen display unit 13. At this time, the control program information acquisition unit 111 may start acquiring the control program information when, for example, the user presses the operation prediction button 17 provided at the lower right of the program editing screen 12 shown in FIG. 4A by input using the operation unit 54.

[0024] Here, the description format of the "control program" includes not only the format of character data but also the format of graphic data. Therefore, "one command among a plurality of commands constituting the routine of the control program" includes not only a command described in character data but also a command described in graphic data. Therefore, "one command among a plurality of commands constituting the routine of the control program" may be, for example, one statement in the source code in ST language, or one rung in a ladder diagram in ladder language. Note that, in this embodiment, "a portion of the range selected by the user" is, for example, one or more statements in the source code in ST language, or one or more rungs in a ladder diagram in ladder language. In the following, this embodiment will be described assuming that the "control program" is source code written in ST language, and that the "portion of the range selected by the user" is one or more command statements in the source code.

[0025] The initial setting information acquisition unit 112 acquires initial setting information which is information indicating the initial values ​​of variables included in the control program set by the user. The initial setting information acquisition unit 112 acquires initial setting information generated by the user's setting in the initial setting unit 14. Specifically, the initial setting information acquisition unit 112 acquires information indicating the initial values ​​of variables displayed on the initial setting screen 15 shown in FIG. 4B displayed by the initial setting screen display unit 16 as initial setting information, thereby acquiring the initial setting information set by the user. For example, the initial setting information acquisition unit 112 acquires initial setting information including information indicating that the initial value of "lVelocity", which is a speed variable shown in FIG. 4B, is "1.00". In addition, the initial setting information acquisition unit 112 acquires total predicted time information which is information indicating a total predicted time for calculating a predicted value described later, and prediction interval information which is information indicating a prediction interval which is a time interval for calculating a predicted value. Specifically, the initial setting information acquisition unit 112 acquires total predicted time information and prediction interval information set by the user by acquiring information indicating a total predicted time and a prediction interval displayed on the initial setting screen 15 as total predicted time information and prediction interval information, similar to the initial setting information. For example, as shown in FIG. 4B, the initial setting information acquiring unit 112 acquires total predicted time information indicating that the total predicted time is "00:15.000" and prediction interval information indicating that the prediction interval is "0.050".

[0026] The motion prediction result information generating unit 120 generates motion prediction result information including predicted waveform information described later and variable list information for each predicted timing described later, based on the motion prediction target information acquired by the motion prediction target information acquiring unit 110.

[0027] The control program analysis unit 121 analyzes the motion prediction target information. First, the control program analysis unit 121 performs syntax analysis on one or more command statements of the control program indicated by the control program information based on the ST language, which is the programming language of the control program, and recognizes and holds program parts such as variables and motion FBs (Function Blocks) included in the statements. For example, the control program analysis unit 121 temporarily stores variable information, which is information indicating variables recognized by syntax analysis, and motion FB information, which is information indicating motion FBs, in the main storage unit 52 or the external storage unit 53. Note that, when the control program analysis unit 121 determines that there is an error in any of the statements of one or more commands as a result of the syntax analysis, it does not consider the statement with the error, and holds information such as variable information and motion FB information, which are information indicating program parts recognized for statements without an error. In addition, the control program analysis unit 121 does not consider any part not selected by the user in the control program that is different from the statements of one or more commands selected by the user in the syntax analysis. For this reason, even if, for example, the value of a variable contained in a sentence of one or more commands selected by the user in a part of the control program not selected by the user, or in a program other than the control program, is changed, or a command exists that causes the motion FB contained in the sentence to perform a different operation, the control program analysis unit 121 will perform syntax analysis only on the sentence without taking such events into consideration at all.

[0028] Furthermore, the control program analysis unit 121 generates variable list information, which is information indicating a list of all variables and their values ​​recognized for each prediction interval from the start of prediction to the total prediction time, using the variable information, total prediction time information, and prediction interval information. For example, the control program analysis unit 121 calculates the elapsed time from the start of prediction by multiplying the prediction interval indicated by the prediction interval information by the number of times the variable list information is generated, and generates variable list information for the next prediction timing after the calculated elapsed time from the start of prediction. Then, the control program analysis unit 121 generates variable list information for each prediction timing by repeating the above-mentioned process until the calculated elapsed time is equal to or greater than the total prediction time indicated by the total prediction time information. At this time, the initial value of each variable indicated by the initial setting information may be registered in advance as a temporary value of each variable indicated by the variable list information at each prediction timing.

[0029] The motion prediction calculation unit 122 calculates a predicted value of the trajectory of the motion of the controlled object based on the analysis result of the control program analysis unit 121. The motion prediction calculation unit 122 acquires the motion FB information and variable list information held by the control program analysis unit 121, and then repeats the following for each prediction interval, the number of all motion FBs, updating the variable list information based on the change in the value of the variables before executing the motion FB, executing the motion FB, acquiring the predicted value of the trajectory of the motion of each controlled object after executing the motion FB, and updating the variable list information based on the change in the value of the variables.

[0030] Specifically, first, the motion prediction calculation unit 122 calculates the change in value of each variable before executing the motion FB from the analysis result of the control program analysis unit 121, and updates the value of each variable indicated by the variable list information at the current prediction timing. Next, the motion prediction calculation unit 122 executes the motion FB using the value of each variable indicated by the variable list information at the current prediction timing to obtain the current values ​​of all variables related to the trajectory of the motion of each controlled object. As a result, the motion prediction calculation unit 122 can calculate the predicted value of the trajectory of the motion of each controlled object at the current prediction timing. Next, the motion prediction calculation unit 122 updates the value of each variable indicated by the variable list information at the current prediction timing based on the change in the value of the variable after executing the motion FB.

[0031] Furthermore, the motion prediction calculation unit 122 repeats the above-mentioned motion FB execution and the processing before and after it for the number of all motion FBs indicated by the motion FB information. After that, the motion prediction calculation unit 122 updates the value of each variable indicated by the variable list information at the next prediction timing to the value of each variable indicated by the variable list information at the current prediction timing, and repeats the above-mentioned repetitive processing at each prediction timing until the calculation of the predicted value for each control object at all prediction timings and the update of the value of each variable indicated by the variable list information are completed. As a result, the motion prediction calculation unit 122 can calculate the predicted value of the motion trajectory of all control objects at all prediction timings, and update the value of each variable indicated by the variable list information at all prediction timings.

[0032] The predicted waveform information generating unit 123 generates predicted waveform information which is information indicating a predicted waveform of the trajectory of the motion of the control object based on the predicted value calculated by the motion prediction calculating unit 122. The predicted waveform information generating unit 123 generates predicted waveform information for each control object indicating a value to be plotted on a graph of predicted waveforms displayed in a predicted waveform display field 208 described later, based on the predicted values ​​of the trajectory of the motion of each control object at all predicted timings calculated by the motion prediction calculating unit 122.

[0033] The operation prediction result information output section 130 outputs information including predicted waveform information and variable list information for each predicted timing as the operation prediction result information generated by the operation prediction result information generating section 120.

[0034] The movement prediction result screen display unit 131 displays a movement prediction result screen 200 that displays movement prediction result information, as shown in Fig. 4C. As shown in Fig. 4C, the movement prediction result screen 200 includes a variable list display field 201 that displays a list of variables and their values ​​provided at the top, and a predicted waveform update button 202 that instructs the start of updating predicted waveform information provided on the left side below the variable list display field 201. The movement prediction result screen 200 also includes a speed selection checkbox 203 provided to the right of the predicted waveform update button 202 that instructs the selection of displaying a predicted waveform of speed, an acceleration selection checkbox 204 provided to the right of the speed selection checkbox 203 that instructs the selection of displaying a predicted waveform of acceleration, and a jerk selection checkbox 205 provided to the right of the acceleration selection checkbox 204 that instructs the selection of displaying a predicted waveform of jerk (jerk, jerk). Furthermore, the operation prediction result screen 200 includes a control object list display field 206 that displays a list of all control objects provided below the predicted waveform update button 202, and a predicted waveform display field 208 that displays the predicted waveform of one control object selected in each control object check box 207 provided corresponding to each control object displayed in the control object list display field 206. Furthermore, the operation prediction result screen 200 includes an export button 209 provided below the predicted waveform display field 208 for instructing external output of operation prediction result information, and an end button 210 provided to the right of the export button 209 for instructing termination of the display of the operation prediction result screen 200.

[0035] 2, the predicted waveform information display unit 132 displays the predicted waveform information included in the operation prediction result information. The predicted waveform information display unit 132 displays an image of a graph of a predicted waveform plotted using values ​​indicated by the predicted waveform information in a predicted waveform display field 208 of the operation prediction result screen 200 shown in FIG. 4C.

[0036] 2, the variable display unit 133 displays variables and their values ​​included in one or more command statements of the control program obtained by syntax analysis by the control program analysis unit 121. The variable display unit 133 displays an image showing the values ​​of each variable for each prediction timing generated using the variable list information for each prediction timing included in the operation prediction result information and the initial setting information, in a variable list display field 201 of the operation prediction result screen 200 shown in FIG.

[0037] When the value of a displayed variable is changed by a user's input using the operation unit 54, the variable display unit 133 updates the display of the variable value from the value before the change to the value after the change. For example, when the initial value of the velocity variable "lVelocity" displayed in the variable list display field 201 shown in Fig. 4C is changed from "1.00" to "0.50", the variable display unit 133 updates the display of the initial value of the velocity variable "lVelocity" in the variable list display field 201 from the value before the change "1.00" to the value after the change "0.50".

[0038] Furthermore, when the variable display unit 133 updates the display of the variable value, the motion prediction calculation unit 122 acquires the changed value from the variable display unit 133 and recalculates the predicted value based on the analysis result of the control program analysis unit 121 and the changed value. For example, when the initial value of the velocity variable "lVelocity" in the variable list display field 201 shown in FIG. 4C is updated to "0.50" and then the predicted waveform update button 202 is pressed by the user's input using the operation unit 54, the motion prediction calculation unit 122 acquires variable list information in which the initial value of the velocity variable "lVelocity" is updated to "0.50". Then, the motion prediction calculation unit 122 recalculates predicted values ​​of the trajectories of the motions of all control objects at all prediction timings and re-updates the values ​​of each variable indicated by the variable list information at all prediction timings.

[0039] Furthermore, when the motion prediction calculation unit 122 recalculates the predicted value, the predicted waveform information generating unit 123 regenerates predicted waveform information based on the recalculated predicted value. Furthermore, when the predicted waveform information generating unit 123 regenerates the predicted waveform information, the predicted waveform information display unit 132 updates the display of the predicted waveform information from the information before the regeneration to the information after the regeneration. For example, the predicted waveform information generating unit 123 regenerates predicted waveform information for each control object based on the predicted values ​​of the motion trajectory of each control object at all predicted timings recalculated by the motion prediction calculation unit 122, and the predicted waveform information display unit 132 updates the display in the predicted waveform display field 208 to an image of a graph of a predicted waveform plotted using values ​​indicated by the regenerated predicted waveform information. Then, the variable display unit 133 updates the display of the value of each variable for each predicted timing in the variable list display field 201 from the value before the update of each variable indicated by the variable list information for each predicted timing to the value after the update.

[0040] The file format conversion section 134 converts the predicted waveform information generated by the predicted waveform information generating section 123 into a file format that can be displayed by a device 40 external to the control program creation support apparatus 10 .

[0041] The export unit 135 outputs the operation prediction result information including the predicted waveform information whose file format has been converted by the file format conversion unit 134 to the external device 40. Specifically, when the export button 209 is pressed by a user's input using the operation unit 54 in a state in which images are displayed in the variable list display field 201, the control target list display field 206, and the predicted waveform display field 208 on the operation prediction result screen 200, the export unit 135 outputs the operation prediction result information including the predicted waveform information to a predetermined external device 40.

[0042] (About the process of displaying the motion prediction results screen) Next, an operation of the operation prediction device 100 acquiring and analyzing operation prediction target information and generating operation prediction result information and displaying it on the operation prediction result screen 200 will be described with reference to a flowchart. When a control program being edited is displayed on the program editing screen 12 and the user selects one or more command statements using the operation unit 54 and then presses the operation prediction button 17, the operation prediction device 100 starts executing an operation prediction result screen display process shown in Fig. 5. First, the control program information acquisition unit 111 acquires control program information selected by the user from among the control programs displayed on the program editing screen 12 (step S101), and the initial setting information acquisition unit 112 acquires initial setting information, total predicted time information, and prediction interval information set by the user and displayed on the initial setting screen 15 (step S102).

[0043] After acquiring each piece of information, the control program analysis unit 121 executes a control program analysis process (step S103), and the motion prediction calculation unit 122 executes a motion prediction calculation process (step S104), which will be described later. After executing the motion prediction calculation process, the predicted waveform information generation unit 123 generates predicted waveform information indicating a predicted waveform of the trajectory of the motion of the controlled object based on the predicted value calculated by the motion prediction calculation unit 122 (step S105), and the motion prediction result screen display unit 131 displays a motion prediction result screen 200 (step S106). After displaying the screen, the predicted waveform information display unit 132 displays an image of a graph of a predicted waveform based on the predicted waveform information in the predicted waveform display field 208 (step S107), and the variable display unit 133 displays an image indicating the value of each variable for each predicted timing based on the variable list information for each predicted timing and the initial setting information in the variable list display field 201 (step S108), and the process ends.

[0044] (Regarding control program analysis processing) Next, the operation of the motion prediction device 100 analyzing a control program will be described with reference to a flowchart. When the motion prediction device 100 executes step S103 of the motion prediction result screen display process described above, it starts executing the control program analysis process shown in Fig. 6. First, the control program analysis unit 121 performs syntax analysis of one or more command statements of the control program indicated by the control program information included in the motion prediction target information (step S201), and acquires information on program parts such as variable information and motion FB information (step S202).

[0045] After acquiring each piece of information, the control program analysis unit 121 calculates the elapsed time from the start of prediction by multiplying the prediction interval indicated by the prediction interval information by the number of times the variable list information is generated, thereby identifying the next prediction timing when the elapsed time has elapsed from the start of prediction (step S203). After identifying the prediction timing, the control program analysis unit 121 generates variable list information indicating a list of all variables indicated by the variable information and their values ​​(step S204), and determines whether the calculated elapsed time is equal to or greater than the total predicted time indicated by the total predicted time information (step S205). If the elapsed time is not equal to or greater than the total predicted time (step S205; N), the control program analysis unit 121 returns to step S203 and repeats the processing of steps S203 to S205 until the calculated elapsed time is equal to or greater than the total predicted time. Then, if the elapsed time is equal to or greater than the total predicted time (step S205; Y), the control program analysis unit 121 ends the control program analysis processing and returns to step S103 of the operation prediction result screen display processing.

[0046] (About the motion prediction calculation process) Next, the operation of the motion prediction device 100 for calculating a predicted value of a trajectory of a motion of a control target will be described with reference to a flowchart. When the motion prediction device 100 executes step S104 of the motion prediction result screen display process described above, it starts executing the motion prediction calculation process shown in Fig. 7. First, the motion prediction calculation unit 122 acquires the motion FB information and variable list information for each prediction timing held by the control program analysis unit 121 (step S301), selects the next prediction timing in order (step S302), and selects the next motion FB in order (step S303).

[0047] After selecting the motion FB, the motion prediction calculation unit 122 calculates the change in the value of each variable before executing the motion FB from the analysis result of the control program analysis unit 121, and updates the value of each variable indicated by the variable list information at the current prediction timing (step S304). After updating the value, the motion prediction calculation unit 122 executes the motion FB using the value of each variable indicated by the variable list information at the current prediction timing (step S305), and calculates the predicted value of the motion trajectory of each control object at the current prediction timing by acquiring the current values ​​of all variables related to the motion trajectory of each control object (step S306). After calculating the predicted value, the motion prediction calculation unit 122 updates the value of each variable indicated by the variable list information at the current prediction timing based on the change in the value of the variable after executing the motion FB (step S307).

[0048] After updating the values, the motion prediction calculation unit 122 judges whether or not all the motion FBs indicated by the motion FB information have been selected (step S308). If not all the motion FBs have been selected (step S308; N), the motion prediction calculation unit 122 returns to step S303 and repeats the processing of steps S303 to S308 until all the motion FBs have been selected. On the other hand, if all the motion FBs have been selected (step S308; Y), the motion prediction calculation unit 122 judges whether or not all the prediction timings have been selected (step S309). If not all the prediction timings have been selected (step S309; ​​N), the motion prediction calculation unit 122 updates the values ​​of the variables indicated by the variable list information at the next prediction timing to the values ​​of the variables indicated by the variable list information at the current prediction timing (step S310), returns to step S302, and repeats the processing of steps S302 to S310 until all the prediction timings have been selected. Then, when all predicted timings have been selected (step S309; ​​Y), the movement prediction calculation unit 122 ends the movement prediction calculation process, and returns to step S104 of the movement prediction result screen display process.

[0049] (About the predicted waveform update process) Next, the operation of the motion prediction device 100 for updating the predicted waveform information will be described with reference to a flowchart. The motion prediction device 100 starts executing the predicted waveform update process shown in FIG. 8 after executing the motion prediction result screen display process. First, the variable display unit 133 judges whether or not the value of the variable displayed in the variable list display field 201 of the motion prediction result screen 200 has been changed by the user's input using the operation unit 54 (step S401). If the displayed value of the variable has not been changed (step S401; N), the variable display unit 133 repeats the process of step S401. On the other hand, if the displayed value of the variable has been changed (step S401; Y), the variable display unit 133 updates the display of the variable value from the value before the change to the value after the change (step S402), and the motion prediction calculation unit 122 judges whether or not the predicted waveform update button 202 has been pressed by the user's input using the operation unit 54 (step S403).

[0050] If the predicted waveform update button 202 has not been pressed (step S403; N), the motion prediction calculation unit 122 returns to step S401 and repeats the processing of steps S401 to 403 until the user changes the value and presses the predicted waveform update button 202. On the other hand, if the predicted waveform update button 202 has been pressed (step S403; Y), the motion prediction calculation unit 122 acquires the changed value from the variable display unit 133 (step S404), and executes the motion prediction calculation process again using the analysis result when the control program analysis unit 121 executes the control program analysis process and the changed value (step S405). After executing the motion prediction calculation process, the predicted waveform information generation unit 123 generates predicted waveform information again indicating the predicted waveform of the trajectory of the motion of the controlled object based on the predicted value recalculated by the motion prediction calculation unit 122 (step S406). After regenerating the predicted waveform information, the predicted waveform information display unit 132 updates the display in the predicted waveform display field 208 to an image of a graph of the predicted waveform based on the regenerated predicted waveform information (step S407), and the variable display unit 133 updates the display of the values ​​of each variable for each predicted timing in the variable list display field 201 from the pre-update values ​​of each variable indicated by the variable list information for each predicted timing to the updated values ​​(step S408), and the processing is terminated.

[0051] As for the export process in which the operation prediction device 100 outputs the operation prediction result information to the external device 40, the operation prediction device 100 starts its operation when the export button 209 is pressed by the user's input using the operation unit 54 while images are displayed in the display fields 201, 206, and 208 of the operation prediction result screen 200. Then, the file format conversion unit 134 converts the predicted waveform information into a file format that can be displayed by the external device 40, and the export unit 135 simply outputs the operation prediction result information including the predicted waveform information whose file format has been converted to the predetermined external device 40. Therefore, in order to reduce redundant explanation, the illustration of the flowchart and detailed explanation will be omitted.

[0052] As described above, according to the operation prediction device 100 of the present embodiment, the operation prediction target information acquisition unit 110 acquires operation prediction target information relating to an operation to be predicted among the operations of the control target. Furthermore, the operation prediction result information generation unit 120 generates operation prediction result information indicating a result of predicting the operation of the control target based on the operation prediction target information acquired by the operation prediction target information acquisition unit 110, and the operation prediction result information output unit 130 outputs the operation prediction result information generated by the operation prediction result information generation unit 120. Here, the operation prediction target information is information including control program information based on one or more commands of the control program selected by the user from among a plurality of commands constituting the routine of the control program.

[0053] In this way, the operation prediction device 100 according to the present embodiment acquires operation prediction target information including control program information based on one or more commands of the control program selected by the user, and generates and outputs operation prediction result information based on the acquired operation prediction target information. As a result, the operation prediction device 100 according to the present embodiment can reduce the man-hours required for adjusting the control program compared to an operation prediction program that does not acquire operation prediction target information including control program information based on one or more commands of the control program selected by the user, or an operation prediction program that cannot generate and output operation prediction result information based on the acquired operation prediction target information.

[0054] In particular, according to the operation prediction device 100 according to the present embodiment, the operation prediction target information includes initial setting information indicating the initial values ​​of variables included in the control program set by the user. In this way, the operation prediction device 100 according to the present embodiment acquires and analyzes operation prediction target information including control program information based on one or more commands of the control program selected by the user and initial setting information indicating initial values ​​of variables included in the control program set by the user, to generate and output operation prediction result information. As a result, the operation prediction device 100 according to the present embodiment can predict the operation of the control target for the selected part of the control program selected by the user, using the initial values ​​of the variables set by the user.

[0055] Moreover, according to the operation prediction device 100 of this embodiment, in the operation prediction target information acquisition unit 110, the control program information acquisition unit 111 acquires control program information indicating one or more commands selected by the user from among multiple commands of the control program being edited on the program editing screen 12 displayed by the program editing screen display unit 13 of the program editing unit 11 included in the control program creation support device 10. Also, in the operation prediction target information acquisition unit 110, the initial setting information acquisition unit 112 acquires initial setting information generated by the user's setting on the initial setting screen 15 displayed by the initial setting screen display unit 16 of the initial setting unit 14 included in the control program creation support device 10.

[0056] In this way, if a user sets initial values ​​of variables included in a control program in the control program creation support device 10 and then selects one or more commands of the control program, the operation prediction device 100 according to this embodiment can acquire and analyze operation prediction target information for a control program that is being edited in the control program creation support device 10, generate and output operation prediction result information. As a result, even if the creation of the control program is not completed, the operation prediction device 100 according to this embodiment can acquire and analyze operation prediction target information for the control program, and generate and output operation prediction result information.

[0057] Moreover, according to the operation prediction device 100 of this embodiment, in the operation prediction result information generating unit 120, the control program analyzing unit 121 analyzes operation prediction target information. Then, in the operation prediction result information generating unit 120, the operation prediction calculating unit 122 calculates a predicted value of the trajectory of the operation of the control object based on the analysis result of the control program analyzing unit 121, and the predicted waveform information generating unit 123 generates predicted waveform information indicating a predicted waveform of the trajectory of the operation of the control object based on the predicted value calculated by the operation prediction calculating unit 122. In this manner, the motion prediction device 100 according to the present embodiment can generate predicted waveform information based on a predicted value of the trajectory of the motion of the control target by analyzing the motion prediction target information.

[0058] In particular, according to the operation prediction device 100 of this embodiment, when an error exists in one or more commands selected by a user, the control program analysis unit 121 does not analyze the command(s) among the one or more commands in which the error exists, but analyzes the remaining commands in which the error does not exist. In this manner, the operation prediction device 100 according to the present embodiment can analyze one or more commands of the control program selected by the user regardless of whether or not an error exists in the one or more commands.

[0059] Here, in the device described in Patent Document 1, when a simulation is performed, the user, who is a control person, needs to repeat the modification and recompilation of the sequence program until there are no more compilation errors. That is, in the device described in Patent Document 1, there is a problem that the user cannot perform a simulation to calculate or display a predicted position of a controlled object until the sequence program has been modified and compiled. As a result, in the device described in Patent Document 1, in order to check the modification of a sequence program or various parameters, the user needs to compile the sequence program, then perform a simulation using the compiled executable file and the various modified parameters to display the predicted position, and since it takes time and effort to check the modification, there is a problem that the labor required for adjusting the control programming increases.

[0060] In contrast, in the operation prediction device 100 according to the present embodiment, when predicting the operation of the controlled object, the user only needs to select one or more commands among the multiple commands of the control program being edited on the program editing screen 12 and then perform an operation to start prediction. Therefore, in the operation prediction device 100 according to the present embodiment, the operation of the controlled object can be predicted and operation prediction result information can be generated and output without compiling, and the one or more commands being edited selected by the user can be analyzed regardless of whether there is an error, and the operation of the controlled object can be predicted from the analysis result. As a result, the operation prediction device 100 according to the present embodiment can predict the operation of the controlled object and generate and output operation prediction result information even if the control program has not been corrected until there are no errors, and the time and effort required for checking the correction can be reduced compared to the device described in Patent Document 1, and the man-hours required for adjusting the control programming can be reduced.

[0061] Furthermore, according to the operation prediction device 100 of this embodiment, in the operation prediction result information output section 130, the predicted waveform information display section 132 displays an image of a graph of a predicted waveform based on the predicted waveform information included in the operation prediction result information in a predicted waveform display field 208 of the operation prediction result screen 200. Furthermore, the variable display section 133 displays an image indicating the value of each variable for each predicted timing based on the variables and the variable values ​​included in one or more commands of the control program obtained by analysis by the control program analysis section in a variable list display field 201 of the operation prediction result screen 200.

[0062] In this way, the operation prediction device 100 according to the present embodiment can display the predicted waveform information, as well as the variables and their values, as an output mode of the operation prediction result information. Also, in this way, the operation prediction device 100 according to the present embodiment can simultaneously display the predicted waveform information, as well as the variables and their values ​​on the operation prediction result screen 200, and the user can check the predicted waveform information while checking the variables and their values.

[0063] In particular, according to the operation prediction device 100 of this embodiment, when the value of a variable displayed in the variable list display field 201 is changed by an input by the user, the variable display unit 133 updates the display of the variable value from the value before the change to the value after the change. In this case, the operation prediction calculation unit 122 recalculates the above-mentioned predicted value based on the analysis result of the control program analysis unit 121 and the value after the change of the variable, and the predicted waveform information generation unit 123 regenerates predicted waveform information based on the predicted value recalculated by the operation prediction calculation unit 122. Also, in this case, the predicted waveform information display unit 132 updates the display of the predicted waveform information from the information before the regeneration to the information after the regeneration.

[0064] In this way, in the operation prediction device 100 according to the present embodiment, the user can confirm how the predicted waveform information changes by changing the value of the variable displayed on the operation prediction result screen 200. That is, in the operation prediction device 100 according to the present embodiment, the user can confirm the change in the predicted waveform of the trajectory of the operation of the control target simply by changing the value of the variable. As a result, the operation prediction device 100 according to the present embodiment makes it easier to confirm the change in the predicted waveform information due to the change in the value of the variable than in an operation prediction device that does not update the display of the predicted waveform information when the user changes the value of the variable, and can reduce the man-hours required to adjust the control program.

[0065] Furthermore, according to the operation prediction device 100 of this embodiment, in the operation prediction result information output unit 130, the file format conversion unit 134 converts the predicted waveform information generated by the predicted waveform information generation unit 123 into a file format that can be displayed by an external device 40 of the control program creation support device 10. Then, in the operation prediction result information output unit 130, the export unit 135 externally outputs the operation prediction result information including the predicted waveform information whose file format has been converted by the file format conversion unit 134 to the external device 40.

[0066] In this way, operation prediction device 100 according to the present embodiment can externally output operation prediction result information including predicted waveform information as an output mode of operation prediction result information. Also, in this way, operation prediction device 100 according to the present embodiment can allow a user of external device 40 to display predicted waveform information, and the user can check the predicted waveform of the trajectory of the operation of the control target.

[0067] (Example of change) As in the above embodiment, the control program information is preferably information indicating one or more commands of the control program selected by the user, but is not limited to this as long as it is information based on one or more commands of the control program selected by the user. For example, the control program information may be a text file of the source code of a test program automatically generated using one or more commands of the control program, or may be an executable file obtained by compiling the test program.

[0068] In the above embodiment, the operation prediction device 100 is one function included in the control program creation support device 10 and is configured integrally with the control program creation support device 10, but is not limited to this, and the operation prediction device 100 and the control program creation support device 10 may be separate entities. In this case, the operation prediction target information acquisition unit 110, the control program information acquisition unit 111, and the initial setting information acquisition unit 112 acquire each piece of information from the separate control program creation support device 10. In this case, it is necessary for a user of the operation prediction device 100 to be able to select one or more commands from a control program edited by the separate control program creation support device 10, and to set the initial value of each variable in the control program creation support device 10.

[0069] As in the above embodiment, the motion prediction target information preferably includes initial setting information indicating initial values ​​of variables included in the control program set by the user, but may not include the initial setting information. In this case, the motion prediction device 100 may, for example, automatically generate initial values ​​of variables based on the control program information, analyze the control program information using the automatically generated initial values ​​of variables, and generate and output motion prediction result information.

[0070] As in the above embodiment, the motion prediction result information preferably includes predicted waveform information indicating a predicted waveform of the trajectory of the motion of the controlled object, but may not include predicted waveform information. In this case, for example, the motion prediction result information may include motion predicted value information which is information indicating a predicted value of the trajectory of the motion of the controlled object for each predicted timing, and the motion prediction result information output unit 130 may display a list of predicted values ​​of the trajectory of the motion of the controlled object for each predicted timing on the motion prediction result screen 200.

[0071] In the above embodiment, the movement prediction result information output section 130 displays predicted waveform information and variable list information for each predicted timing as movement prediction result information on the movement prediction result screen 200, but the movement prediction result information displayed on the movement prediction result screen 200 is not limited to this. For example, the movement prediction result information output section 130 may display information indicating a list of program parts other than variables, such as motion FBs, included in one or more commands of the control program selected by the user on the movement prediction result screen 200.

[0072] In the above embodiment, the control program analysis unit 121 can analyze the operation prediction target information even if an error exists in one or more commands of the control program selected by the user, but the present invention is not limited to this. For example, the control program analysis unit 121 may be unable to analyze the operation prediction target information when an error exists in one or more commands of the control program selected by the user. Also, for example, the control program analysis unit 121 may only display the presence of an error when an error exists in one or more commands of the control program selected by the user, and may not analyze the remaining part of the operation prediction target information that does not have an error.

[0073] As in the above embodiment, it is preferable that the movement prediction result information output unit 130 simultaneously displays an image based on the predicted waveform information and an image based on the variable list information for each predicted timing on the movement prediction result screen 200, but this is not limiting, and each image may be displayed at different timings or on different screens. For example, the movement prediction result information output unit 130 may display an image based on the predicted waveform information on a first movement prediction result screen, while displaying an image based on the variable list information for each predicted timing on a second movement prediction result screen.

[0074] As in the above embodiment, it is preferable that, when the value of a variable displayed in the variable list display field 201 of the operation prediction result screen 200 is changed by a user's input, the operation prediction device 100 recalculates the predicted value, regenerates the predicted waveform information, and updates the display of the predicted waveform information, but is not limited to this. For example, even if the value of a variable displayed in the variable list display field 201 of the operation prediction result screen 200 is changed by a user's input, the operation prediction device 100 does not need to recalculate the predicted value, regenerate the predicted waveform information, or update the display of the predicted waveform information.

[0075] As in the above embodiment, when the user presses export button 209, it is preferable that motion prediction device 100 converts the file format of the predicted waveform information and then outputs motion prediction result information including the predicted waveform information to external device 40, but is not limited to this. For example, motion prediction device 100 may output motion prediction result information including predicted waveform information whose file format has not been converted to external device 40.

[0076] The control program creation support device 10 and the operation prediction device 100, which are provided with the 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 realized by using a normal computer system, not a dedicated system. For example, the operation prediction program as a computer program for executing the above-mentioned operation may be stored and distributed in a computer-readable recording medium, such as a flash memory or a DVD-ROM (Read-Only Memory), and the operation prediction program may be installed to configure a computer that executes the above-mentioned processing. Also, the operation prediction program may be stored in a storage device of a server device on a communication network such as a LAN (Local Area Network) or the Internet 30, and a normal computer system may download the operation prediction program to configure a computer.

[0077] In addition, when the functions of the control program creation support device 10 and the operation prediction device 100 are realized by sharing between an OS (Operating System) and an application program, or by cooperation between the OS and an application program, only the application program portion may be stored in a recording medium or storage device.

[0078] It is also possible to superimpose the FA control test support program on the carrier wave and provide it via a communication network. For example, the operation prediction program may be posted on a bulletin board (BBS: Bulletin Board System) on the communication network and provided via the network. Then, the operation prediction program may be started and executed under the control of the OS in the same way as other application programs, thereby executing the above-mentioned processing.

[0079] Various embodiments and modifications of the present disclosure are possible without departing from the broad spirit and scope of the present disclosure. The above-described embodiments are for explaining the present disclosure and do not limit the scope of the present disclosure. In other words, the scope of the present disclosure is indicated by the claims, not the embodiments. Various modifications made within the scope of the claims and within the scope of the disclosure equivalent thereto are considered to be within the scope of the present disclosure. [Explanation of symbols]

[0080] 10...control program creation support device, 11...program editing section, 12...program editing screen, 13...program editing screen display section, 14...initial setting section, 15...initial setting screen, 16...initial setting screen display section, 17...motion prediction button, 20...FA control device, 21...FA equipment, 22...drive shaft, 30...Internet, 40...external device, 50...internal bus, 51...control section, 52...main memory section, 53...external memory section, 54...operation section, 55...display section, 56...transmission / reception section, 59...control program, 100...motion prediction device, 110...motion prediction target information acquisition section, 111...control program information acquisition section, 112...initial setting information acquisition section, 120...motion prediction result information generation section , 121...control program analysis unit, 122...movement prediction calculation unit, 123...predicted waveform information generation unit, 130...movement prediction result information output unit, 131...movement prediction result screen display unit, 132...predicted waveform information display unit, 133...variable display unit, 134...file format conversion unit, 135...export unit, 200...movement prediction result screen, 201...variable list display field, 202...predicted waveform update button, 203...speed selection checkbox, 204...acceleration selection checkbox, 205...jerk selection checkbox, 206...controlled object list display field, 207...controlled object checkbox, 208...predicted waveform display field, 209...export button, 210...exit button.

Claims

1. Computer, an operation prediction target information acquiring unit that acquires operation prediction target information including control program information that is information based on one or more commands of the control program selected by a user from a plurality of commands constituting a routine of the control program that controls an operation of the control target, the operation prediction target information being information on an operation that is a prediction target among the operations of the control target; an action prediction result information generating unit that generates action prediction result information which is information indicating a result of predicting the action of the control target based on the action prediction target information acquired by the action prediction target information acquiring unit; an action prediction result information output unit that outputs the action prediction result information generated by the action prediction result information generation unit; Function as a the operation prediction result information generating unit generates the operation prediction result information by using program parts contained in the command statements of the control program indicated by the control program information, which are recognized by parsing the command statements based on a programming language of the control program, without compiling the command statements. Motion prediction program.

2. Computer, an operation prediction target information acquiring unit that acquires operation prediction target information including control program information that is information based on one or more commands of the control program selected by a user from a plurality of commands constituting a routine of the control program that controls an operation of the control target, the operation prediction target information being information on an operation that is a prediction target among the operations of the control target; an action prediction result information generating unit that generates action prediction result information which is information indicating a result of predicting the action of the control target based on the action prediction target information acquired by the action prediction target information acquiring unit; an action prediction result information output unit that outputs the action prediction result information generated by the action prediction result information generation unit; Function as a The motion prediction target information includes total prediction time information and prediction interval information set by the user. Motion prediction program.

3. the operation prediction target information includes initial setting information which is information indicating initial values ​​of variables included in the control program set by the user; The motion prediction program according to claim 1 .

4. The motion prediction target information acquisition unit a control program information acquisition unit that acquires the control program information indicating the one or more commands selected by the user from among the plurality of commands of the control program edited in a program editing unit of a control program creation support device that is a device for supporting the creation of the control program by the user; an initial setting information acquisition unit that acquires the initial setting information generated by the user in an initial setting unit included in the control program creation support device; Including, The motion prediction program according to claim 3 .

5. The motion prediction result information generating unit a control program analysis unit that analyzes the motion prediction target information; a motion prediction calculation unit that calculates a predicted value of a trajectory of a motion of the controlled object based on an analysis result of the control program analysis unit; a waveform prediction information generating unit that generates waveform prediction information which is information indicating a predicted waveform of a trajectory of the motion of the control object based on the predicted value calculated by the motion prediction calculating unit; Including, The motion prediction program according to claim 1 .

6. when an error exists in the one or more commands selected by the user, the control program analysis unit does not analyze the command having the error among the one or more commands, but analyzes the remaining commands having no error. The motion prediction program according to claim 5 .

7. The action prediction result information output unit a predicted waveform information display unit that displays the predicted waveform information included in the operation prediction result information on an operation prediction result screen that displays a result of predicting the operation of the control target; a variable display unit that displays variables included in the one or more commands of the control program obtained by the analysis of the control program analysis unit and values ​​of the variables on the operation prediction result screen; Including, The motion prediction program according to claim 5 .

8. when the value of the variable being displayed is changed by an input by the user, the variable display unit updates the display of the value of the variable from the value before the change to the value after the change; the operation prediction calculation unit, when the variable display unit updates the display of the value of the variable, re-calculates the predicted value based on the analysis result of the control program analysis unit and the changed value; when the motion prediction calculation unit re-calculates the predicted value, the predicted waveform information generation unit re-generates the predicted waveform information based on the predicted value re-calculated by the motion prediction calculation unit; when the waveform prediction information generating unit regenerates the waveform prediction information, the waveform prediction information display unit updates the display of the waveform prediction information from information before the regeneration to information after the regeneration. The motion prediction program according to claim 7.

9. The action prediction result information output unit a file format conversion unit that converts the predicted waveform information generated by the predicted waveform information generation unit into a file format that can be displayed by a device external to the computer; an action prediction result information external output unit that outputs the action prediction result information, including the predicted waveform information whose file format has been converted by the file format conversion unit, to the external device; Including, The motion prediction program according to claim 5 .

10. 1. An operation prediction device for predicting an operation of a control object when a control program for controlling the operation of the control object is executed, comprising: a motion prediction target information acquiring unit that acquires motion prediction target information that is information about a motion that is a prediction target among the motions of the control target; an action prediction result information generating unit that generates action prediction result information, which is information indicating a result of predicting an action of the control target, based on the action prediction target information acquired by the action prediction target information acquiring unit; an action prediction result information output unit that outputs the action prediction result information generated by the action prediction result information generation unit; Equipped with the operation prediction target information includes control program information that is information based on one or more commands of the control program selected by a user from a plurality of commands constituting a routine of the control program, the operation prediction result information generating unit generates the operation prediction result information by using program parts contained in the command statements of the control program indicated by the control program information, which are recognized by parsing the command statements based on a programming language of the control program, without compiling the command statements. Motion prediction device.

11. 1. An operation prediction device for predicting an operation of a control object when a control program for controlling the operation of the control object is executed, comprising: a motion prediction target information acquiring unit that acquires motion prediction target information that is information about a motion that is a prediction target among the motions of the control target; an action prediction result information generating unit that generates action prediction result information, which is information indicating a result of predicting an action of the control target, based on the action prediction target information acquired by the action prediction target information acquiring unit; an action prediction result information output unit that outputs the action prediction result information generated by the action prediction result information generation unit; Equipped with The operation prediction target information is information including control program information based on one or more commands of the control program selected by a user from among a plurality of commands constituting a routine of the control program, and total prediction time information and prediction interval information set by the user. Motion prediction device.

12. an action prediction target information acquisition step in which a computer acquires action prediction target information, which is information including control program information that is information based on one or more commands of the control program selected by a user from a plurality of commands constituting a routine of the control program that controls an action of the control target, and is information regarding an action that is a prediction target among the actions of the control target; an action prediction result information generating step of generating action prediction result information which is information indicating a result of predicting the action of the control target based on the action prediction target information acquired in the action prediction target information acquiring step, by the computer; an action prediction result information output step in which the computer outputs the action prediction result information generated in the action prediction result information generating step; Including, In the operation prediction result information generating step, the computer generates the operation prediction result information by using program parts contained in the command sentences of the control program indicated by the control program information, which are recognized by parsing the command sentences based on the programming language of the control program, without compiling the sentences. Motion prediction methods.

13. an action prediction target information acquisition step in which a computer acquires action prediction target information, which is information including control program information that is information based on one or more commands of the control program selected by a user from a plurality of commands constituting a routine of the control program that controls an action of the control target, and is information regarding an action that is a prediction target among the actions of the control target; an action prediction result information generating step of generating action prediction result information which is information indicating a result of predicting the action of the control target based on the action prediction target information acquired in the action prediction target information acquiring step, by the computer; an action prediction result information output step in which the computer outputs the action prediction result information generated in the action prediction result information generating step; Including, The motion prediction target information includes total prediction time information and prediction interval information set by the user. Motion prediction methods.

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