Control device and industrial machine

Abstract

A control device according to the present disclosure includes: a program acquisition unit that acquires at least one operation program that is either a numerical control program or a robot operation program executed to control an industrial machine; a code detection unit that detects a predetermined detection target code from the operation program and creates code detection information including at least information about the presence or absence of the detection target code; and an output unit that outputs the code detection information together with information about the operation program.

Description

Control device and industrial machine

[0001] The present disclosure relates to a control device and an industrial machine.

[0002] Industrial machinery such as machine tools and robots installed at production sites are controlled based on operation programs that contain code that issues commands related to the industrial machinery. Most of these operation programs consist of code that issues commands to control the operation of the industrial machinery itself, such as movement commands, spindle rotation and stopping, and coolant ON / OFF.

[0003] Some codes that can be used in an operation program affect the settings of industrial machines, such as an assignment command to a system macro variable or a programmable data input command. Such codes are useful when settings need to be changed during the execution of an operation program (see, for example, Patent Documents 1 and 2).

[0004] JP-A No. 06-318109 JP-A No. 63-271605

[0005] Incorrect use of code that affects industrial machine settings can have a significant impact on the operation of the machine. However, operating programs can be lengthy and created using tools such as CAD / CAM. Furthermore, issues with the visibility and operability of industrial machine displays make it difficult to prevent the execution of a few lines of unnecessary code. Furthermore, industrial machine control devices often have limited computing resources, making it difficult to resolve issues using methods similar to those used in general program development. Production sites need technology that can easily identify code requiring attention that has been hidden in operating programs.

[0006] The control device for industrial machinery according to the present disclosure solves the above problem by checking whether an operating program contains code that requires careful handling and displaying this on the screen.

[0007] One aspect of the present disclosure is a control device that includes a program acquisition unit that acquires at least one operation program that is either a numerical control program or a robot operation program executed to control industrial machinery, a code detection unit that detects a specified code to be detected from the operation program and creates code detection information that includes at least information on the presence or absence of the code to be detected, and an output unit that outputs the code detection information together with information on the operation program.

[0008] FIG. 1 is a schematic hardware configuration diagram of a control device according to a first embodiment. FIG. 2 is a block diagram showing schematic functions of the control device according to the first embodiment. FIG. 3 is a table diagram showing an example of chord detection information. FIG. 4 is a screen diagram showing an example of output of chord detection information by an output unit. FIG. 5 is a screen diagram showing another example of output of chord detection information by an output unit. FIG. 6 is a block diagram showing schematic functions of a control device according to a second embodiment. FIG. 7 is a block diagram showing schematic functions of a control device according to a third embodiment. FIG. 8 is a block diagram showing schematic functions of a control device according to a fourth embodiment. FIG. 9 is a table diagram showing part of the chord detection information created last time and stored in a detection history storage unit. FIG. 10 is a table diagram showing part of the chord detection information created this time by the chord detection unit. FIG. 11 is a screen diagram showing an example of displaying change points. FIG. 12 is a screen diagram showing another example of displaying change points.

[0009] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In the following description, components having the same or similar functions will be denoted by the same reference numerals. Duplicate descriptions of those components may be omitted.

[0010] In this application, "based on XX" means "based on at least XX," and includes cases where it is based on other elements in addition to XX. Furthermore, "based on XX" is not limited to cases where XX is used directly, but also includes cases where it is based on XX that has been calculated or processed. "XX" is any element (for example, any information).

[0011] The term "drive axis" used herein refers to a virtual axis set in a processing machine, and includes, for example, the X-axis, Y-axis, Z-axis, A-axis, B-axis, and C-axis.

[0012] 1 is a schematic hardware configuration diagram showing the main parts of a control device according to an embodiment of the present disclosure. The control device 1 of the present disclosure can be implemented as a control device that controls industrial machinery such as a machine tool or robot that has a moving object that moves when driven by a motor. The following describes, as an example, the control device 1 that controls a machine tool that processes a workpiece by controlling the relative position between a tool and a workpiece.

[0013] The CPU 11 included in the control device 1 of the present disclosure is a processor that performs overall control of the control device 1. The CPU 11 reads a system program stored in the ROM 12 via the bus 22 and controls the entire control device 1 in accordance with the system program. The RAM 13 temporarily stores temporary calculation data, display data, various data input from outside, and the like.

[0014] The nonvolatile memory 14 is configured, for example, by a memory backed up by a battery (not shown) or an SSD (Solid State Drive), and retains its stored state even when the power to the control device 1 is turned off. The nonvolatile memory 14 stores operation programs and data read from an external device 72 via the interface 15, data and operation programs input via the input device 71, and various data acquired from the industrial machine 3. The operation programs and data stored in the nonvolatile memory 14 may be expanded into the RAM 13 when executed / used. Furthermore, various system programs such as known analysis programs are written in the ROM 12 in advance.

[0015] The interface 15 is an interface for connecting the CPU 11 of the control device 1 to an external device 72 such as a USB memory, CompactFlash (registered trademark), or SD card. For example, operation programs and various data used to control the industrial machine 3 can be read from the external device 72. Furthermore, operation programs and various data edited within the control device 1 can be stored in the external device 72. A PLC (programmable logic controller) 16 outputs signals to the industrial machine 3 and its peripheral devices (e.g., tool changers, actuators such as robots, sensors attached to the industrial machine 3, etc.) via an I / O unit 17 to control the industrial machine 3 using a sequence program built into the control device 1. The PLC 16 also receives signals from various switches on an operation panel installed on the main body of the industrial machine 3 and from peripheral devices, performs the necessary signal processing, and then passes the signals to the CPU 11.

[0016] The display device 70 displays various data loaded into the memory, data obtained as a result of executing operation programs, system programs, etc., output via the interface 18. In addition, the input device 71, which is composed of a keyboard, pointing device, etc., passes instructions, data, etc. based on operations by an operator to the CPU 11 via the interface 19.

[0017] The interface 20 is an interface for connecting the CPU 11 of the control device 1 to a wired or wireless network 5. The network 5 may communicate using technologies such as serial communication such as RS-485, Ethernet (registered trademark), optical communication, wireless LAN, Wi-Fi (registered trademark), Bluetooth (registered trademark), etc. Other control devices 4, fog computers 6, cloud servers 7, etc. are connected to the network 5, and data is exchanged between the network 5 and the control device 1.

[0018] The axis control circuit 30 for controlling the drive axes of the industrial machine 3 receives position commands for the drive axes from the CPU 11 and outputs commands for the drive axes to the servo amplifier 40. The servo amplifier 40 receives these commands and drives the servo motors 50 associated with the drive axes, moving each component of the industrial machine 3 along the respective axes. Each servo motor 50 has a built-in position detector, and feeds back a position feedback signal from the position detector to the axis control circuit 30. The axis control circuit 30 performs feedback control of the servo motor 50 based on the position feedback signal. Note that while only one axis control circuit 30, servo amplifier 40, and servo motor 50 are shown in the hardware configuration diagram of FIG. 1 , in reality, there are as many axis control circuits 30, servo amplifiers 40, and servo motors 50 as there are drive axes of the industrial machine 3 to be controlled. For example, to control a typical machine tool with three linear axes and two rotational axes, five sets of axis control circuits 30, servo amplifiers 40, and servo motors 50 are provided to move a spindle to which a tool is attached and a workpiece relatively in the three linear axes and two rotational axes (X-axis, Y-axis, Z-axis, A-axis, and C-axis directions).

[0019] The spindle control circuit 60 receives a spindle rotation command and outputs a spindle speed signal to a spindle amplifier 61. The spindle amplifier 61 receives this spindle speed signal and rotates a spindle motor 62 of the industrial machine 3 at the commanded rotation speed to drive the spindle. A position coder 63 is connected to the spindle motor 62. The position coder 63 outputs a feedback pulse in synchronization with the rotation of the spindle, and the feedback pulse is read by the CPU 11.

[0020] The control device 1 may be configured as a separate entity from the industrial machine 3. In this case, the control device 1 and the industrial machine 3 may be connected by a signal line or the like, or may be connected via a network. Furthermore, the control device 1 may be connected to the industrial machine 3 by being incorporated in the industrial machine 3.

[0021] 2 is a schematic block diagram illustrating functions of the control device 1 according to the first embodiment of the present disclosure. Each function of the control device 1 according to this embodiment is realized by the CPU 11 of the control device 1 shown in FIG. 1 executing a system program and controlling the operation of each part of the control device 1.

[0022] The control device 1 of this embodiment includes a program acquisition unit 100 , a code detection unit 120 , an output unit 130 , a program analysis unit 150 , and a control unit 160 .

[0023] The program acquisition unit 100 acquires at least one operation program executed to control the industrial machine 3. This operation program is, for example, a numerical control program. If the industrial machine 3 is a robot, this operation program is, for example, a robot operation program. The program acquisition unit 100 may acquire an operation program stored in, for example, the RAM 13 or the non-volatile memory 14. The program acquisition unit 100 may also acquire an operation program from an external device 72. Furthermore, the program acquisition unit 100 may also acquire an operation program input by a user via the input device 71. The program acquisition unit 100 outputs the acquired operation program to the code detection unit 120.

[0024] The code detection unit 120 detects predetermined detection target codes from the operation program acquired by the program acquisition unit 100. Then, based on the detection results, it creates code detection information that includes at least information regarding the presence or absence of each detection target code. The detection target codes used by the code detection unit 120 according to this embodiment may be preset, fixed codes. Detection target codes are codes that issue commands related to settings that affect the overall operation of industrial machinery, such as codes that command changes to system settings, codes that command changes to specific macro variables related to system settings or operation, and specific M codes that command the operation of peripheral devices. Examples of detection target codes include G10, macro variable assignment codes, and some M codes in numerical control programs. Examples of detection target codes include register variable change codes and some external signal output codes in robot operation programs. Typically, execution of such codes is managed by an operator with higher authority and is not executed at the discretion of on-site workers. Therefore, detection target codes are set to detect such codes as codes requiring attention.

[0025] 3 is a table diagram showing an example of chord detection information. The chord detection information created by the chord detection unit 120 includes at least information regarding the presence or absence of detection target chords in the operation program. The chord detection information may also include information regarding the number of times each detection target chord appears in the operation program. The chord detection information may also include information regarding the position of each detection target chord in the operation program. The chord detection information may be data in any format that can express the information to be included in the chord detection information, such as JSON format or CSV format.

[0026] The code detection unit 120 may simply search the operating program for the detection target code to determine whether the detection target code is present and the location of the detection target code within the operating program. The code detection unit 120 may perform processing to detect the detection target code from the operating program, for example, when the operating program is acquired. Alternatively, the code detection unit 120 may perform processing to detect the detection target code from the operating program when a display process related to the operating program is performed. Furthermore, the code detection unit 120 may perform processing to detect the detection target code from the operating program when any change is made to the operating program. Alternatively, the code detection unit 120 may perform processing to detect the detection target code from the operating program at a predetermined cycle. The code detection unit 120 outputs the created code detection information to the output unit 130.

[0027] The output unit 130 outputs information related to the operation program acquired by the program acquisition unit 100 and chord detection information for the operation program created by the chord detection unit 120. The output unit 130 may be configured to display the operation program and the chord detection information on the display device 70 in response to a user operation.

[0028] FIG. 4 is a screen diagram showing an example of chord detection information output by the output unit 130. In the example of FIG. 4, an operating program display frame 302 is provided within the display screen 300, and the operating program is displayed within it. As illustrated in FIG. 4, the detection target chords within the operating program may be easily visible within the display frame 302 by highlighting or highlighting them in reverse video. In this case, the detection target chords may be displayed in different colors or other display modes to distinguish them from one another. Also, in the example of FIG. 4, a frame 304 is provided next to the display frame 302. This frame 304 serves as a scroll bar and displays markers 312 and 314 at the positions where each detection target chord appears, allowing the user to grasp the position of the detection target chord within the operating program. By moving the knob 306 to the position of the marker, the corresponding detection target chord appears in the display frame 302. The markers may also be displayed in different colors or other display modes to distinguish the types of detection target chords.

[0029] Fig. 5 is a screen diagram showing another example of chord detection information output by the output unit 130. In the example of Fig. 5, a display frame 322 for displaying a list of operation programs is provided within the display screen 320, and the list of operation programs is displayed within that frame. As shown in Fig. 5, the display frame 322 displays a list of the program names, update dates, and whether or not each of the operation programs contains code to be detected. In this way, the chord detection unit 120 may create chord detection information for each of the multiple operation programs acquired by the program acquisition unit 100, and the output unit 130 may display the information in a list.

[0030] The program analysis unit 150 analyzes the operation program acquired by the program acquisition unit 100 in a mode in which the industrial machine 3 is operated. Then, it creates data necessary for controlling the industrial machine 3. For example, the program analysis unit 150 analyzes commands for controlling the drive axes of the industrial machine 3 and creates data related to movement commands for driving each servo motor 50. The program analysis unit 150 also analyzes commands for controlling the main shaft of the industrial machine 3 and creates data related to main shaft rotation commands for rotating the spindle motor 62. The program analysis unit 150 outputs the created control-related data to the control unit 160. Then, the control unit 160 controls each unit of the industrial machine 3 based on the control-related data created by the program analysis unit 150.

[0031] The control device 1 according to this embodiment, configured as described above, can easily determine whether or not a code requiring attention is included and where it is included. This allows the operator to easily notice anomalies in the operating program. As a result, execution of a dangerous operating program can be prevented with minimal checking. For example, suppose a malicious third party adds code to a machining program that commands a parameter change, such as G10L52. In such a case, when a user works using the machining program, if the operating program is read and displayed on the screen, the screen shown in FIG. 4 is displayed, allowing the user to immediately determine that the operating program contains code that commands a parameter change. This allows the user to immediately determine that the operating program should be checked.

[0032] Furthermore, by focusing on the code for detection processing, it is possible to detect commands that require attention with a small amount of calculation, and this can be implemented even on control devices with only minimal computational resources. Furthermore, since the execution of code is not prohibited, code necessary for business purposes can be executed without any problems.

[0033] Second Embodiment A control device according to a second embodiment of the present disclosure will be described below. The control device 1 according to this embodiment has the same hardware configuration as the control device 1 according to the first embodiment.

[0034] 6 is a schematic block diagram showing functions of the control device 1 according to the second embodiment of the present disclosure. As with the control device 1 according to the first embodiment, the functions of the control device 1 according to this embodiment are realized by the CPU 11 included in the control device 1 shown in FIG. 1 executing a system program and controlling the operation of each part of the control device 1.

[0035] The control device 1 according to this embodiment includes a program acquisition unit 100 , a code detection unit 120 , an output unit 130 , a program analysis unit 150 , and a control unit 160 , as well as a detection target acquisition unit 110 .

[0036] The program acquisition unit 100, output unit 130, program analysis unit 150, and control unit 160 according to this embodiment have the same functions as those according to the first embodiment.

[0037] The detection target acquisition unit 110 acquires at least one predetermined detection target code. The detection target code acquired by the detection target acquisition unit 110 is code that issues commands related to settings that affect the overall operation of industrial machinery, such as code that commands the setting of a system variable, code that commands the change of a specific macro variable, or a specific M code. Typically, such code is managed by an operator with higher authority and is not executed at the discretion of an on-site worker. Therefore, such code is acquired as detection target code so that it can be detected as code requiring attention.

[0038] The detection target acquisition unit 110 may acquire the detection target code stored in advance in, for example, the RAM 13 or the non-volatile memory 14. Alternatively, the detection target code may be acquired from an external device 72. Furthermore, a predetermined input screen may be displayed on the display device 70, and the detection target code may be acquired through the user's operation of the input device 71. The detection target acquisition unit 110 outputs the acquired detection target code to the code detection unit 120.

[0039] The chord detection unit 120 according to this embodiment detects the presence or absence of the detection target code acquired by the detection target acquisition unit 110 from the operating program acquired by the program acquisition unit 100. Then, it creates chord detection information that includes at least information regarding the presence or absence of the detection target code.

[0040] The control device 1 according to this embodiment, which has the above-described configuration, makes it easy to identify codes that require attention as detection targets. This allows the operator to easily notice any abnormalities in the operating program. Because the codes that require attention can be set as appropriate, it is possible to select the codes that require attention as appropriate according to the operating program to be executed, the type of industrial machine 3, the rules at the manufacturing site, and the like, enabling flexible response.

[0041] Third Embodiment A control device according to a third embodiment of the present disclosure will be described below. The control device 1 according to this embodiment has the same hardware configuration as the control device 1 according to the first embodiment.

[0042] 7 is a schematic block diagram showing functions of the control device 1 according to the third embodiment of the present disclosure. As with the control device 1 according to the first embodiment, the functions of the control device 1 according to this embodiment are realized by the CPU 11 included in the control device 1 shown in FIG. 1 executing a system program and controlling the operation of each part of the control device 1.

[0043] The control device 1 according to this embodiment includes a program acquisition unit 100, a code detection unit 120, an output unit 130, a program analysis unit 150, and a control unit 160. The RAM 13 to the nonvolatile memory 14 of the control device 1 are provided with a detection history storage unit 200, which is an area for storing a history of detection target codes detected by the code detection unit 120 from the operating program.

[0044] The program acquisition unit 100, output unit 130, program analysis unit 150, and control unit 160 according to this embodiment have the same functions as those according to the first embodiment.

[0045] According to this embodiment, the code detection unit 120 references the detection history storage unit 200 before detecting detection target code in an operation program acquired by the program acquisition unit 100. The detection history storage unit 200 stores, as a history, code detection information created when the code detection unit 120 previously detected detection target code for each operation program, in association with attribute information such as the update date and size of the operation program. When code detection information related to an operation program acquired by the program acquisition unit 100 is stored in the detection history storage unit 200, the code detection unit 120 determines whether the operation program has been changed since the previous detection. For example, the code detection unit 120 may determine that the operation program has not been changed since the previous detection if the update date of the operation program has not changed. Furthermore, more strictly, the code detection unit 120 may determine that the operation program has not been changed since the previous detection if the update date, size, etc. of the operation program have not changed. When the operation program has not been changed since the previous detection, the code detection unit 120 reads the code detection information related to the operation program from the detection history storage unit 200. The read chord detection information is then output as the detection result to the output unit 130. On the other hand, if the operating program has been changed since the previous detection, the process related to the detection of the detection target chord is executed and new chord detection information is created. The created chord detection information is then output to the output unit 130, and the chord detection information of the operating program is stored as history in the detection history storage unit 200 in association with attribute information such as the update date and size of the operating program.

[0046] The control device 1 according to this embodiment, which has the above configuration, can easily identify codes that require attention as detection targets. This allows the operator to easily notice any abnormalities in the operating program. Furthermore, by using the previous detection results when there are no changes to the operating program, unnecessary processing load is not generated, and the load on the control device can be reduced.

[0047] Fourth Embodiment A control device according to a third embodiment of the present disclosure will be described below. The control device 1 according to this embodiment has the same hardware configuration as the control device 1 according to the first embodiment.

[0048] 8 is a schematic block diagram showing functions of the control device 1 according to the third embodiment of the present disclosure. As with the control device 1 according to the first embodiment, the functions of the control device 1 according to this embodiment are realized by the CPU 11 included in the control device 1 shown in FIG. 1 executing a system program and controlling the operation of each part of the control device 1.

[0049] The control device 1 according to this embodiment includes a program acquisition unit 100, a code detection unit 120, an output unit 130, a program analysis unit 150, and a control unit 160, as well as a change point detection unit 140. The RAM 13 to the nonvolatile memory 14 of the control device 1 are provided with a detection history storage unit 200, which is an area for storing a history of detection target codes detected by the code detection unit 120 from the operating program.

[0050] The program acquisition unit 100, output unit 130, program analysis unit 150, and control unit 160 according to this embodiment have the same functions as those according to the first embodiment.

[0051] The chord detection unit 120 according to this embodiment detects detection target chords in the operation program acquired by the program acquisition unit 100 and creates chord detection information. The chord detection unit 120 then outputs the created chord detection information to the output unit 130, and stores the chord detection information of the operation program as history in the detection history storage unit 200 in association with attribute information of the operation program. The chord detection unit 120 also outputs the created chord detection information to the change point detection unit 140.

[0052] The change point detection unit 140 detects change points between the chord detection information related to the operation program created by the chord detection unit 120 and the chord detection information previously created for that operation program stored in the detection history storage unit 200. The change point detection unit 140 then outputs the change point information to the output unit 130. The change point information may be, for example, a change in the presence or absence of each detection target code in the operation program. The change point information may also be, for example, a change in the number of each detection target code in the operation program. The change point information may also be, for example, a change in the position of each detection target code in the operation program.

[0053] In this embodiment, the output unit 130 outputs information related to changes in the operation program in addition to chord detection information related to the operation program. FIG. 9 is a table showing part of the previously generated chord detection information stored in the detection history storage unit 200. FIG. 10 is a table showing part of the currently generated chord detection information generated by the chord detection unit 120. Comparing FIGS. 9 and 10 reveals that a detection target code "G10" was added to the operation program "O0004" between the results of the previous detection target code detection process and the current detection target code detection. The change point detection unit 140 detects this as a change point and outputs it to the output unit 130. The output unit 130 then displays an output screen, as shown in FIG. 11, that clearly indicates that a detection target code "G10" has been added to the operation program "O0004."

[0054] 12 is a diagram showing another example of a screen displaying change points. As shown in the example of FIG. 12, the display may be configured to allow the user to grasp the positions where the detection target code has been deleted or added within the operating program.

[0055] The control device 1 according to this embodiment, which has the above configuration, makes it easy to identify code that requires attention as a detection target. This allows the operator to easily notice any abnormalities in the operating program. Furthermore, since changes in the code that is the detection target since the last time it was detected are displayed in an easy-to-understand manner, the user can easily identify areas that require special attention.

[0056] Although the embodiments of the present disclosure have been described in detail above, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, etc. are possible in these embodiments without departing from the gist of the invention or the idea and intent of the present disclosure derived from the content described in the claims and their equivalents. For example, in the above-described embodiments, the order of each operation and the order of each process are shown as examples and are not limited to these. The same applies when numerical values ​​or mathematical expressions are used in the description of the above-described embodiments.

[0057] The following are supplementary notes related to embodiments of the present disclosure. (Supplementary Note 1) A control device (1) according to one aspect of the present disclosure includes a program acquisition unit (100) that acquires at least one operation program that is either a numerical control program or a robot operation program executed to control an industrial machine (3), a code detection unit (120) that detects a predetermined code to be detected from the operation program and creates code detection information that includes at least information on the presence or absence of the code to be detected, and an output unit (130) that outputs the code detection information together with information on the operation program.

[0058] (Supplementary Note 2) The output unit (130) included in the control device (1) according to another aspect of the present disclosure displays a list of the operation programs. (Supplementary Note 3) The output unit (130) included in the control device (1) according to another aspect of the present disclosure outputs the position of the detection target code in the operation program. (Supplementary Note 4) The output unit (130) included in the control device (1) according to another aspect of the present disclosure outputs the number of the detection target codes included in the operation program.

[0059] (Supplementary Note 5) The detection target code detected by a control device (1) according to another aspect of the present disclosure includes a code that changes a setting value. (Supplementary Note 6) A control device (1) according to another aspect of the present disclosure further includes a detection target acquisition unit (110) that acquires a predetermined detection target code. (Supplementary Note 7) The output unit (130) included in a control device (1) according to another aspect of the present disclosure outputs the previously created code detection information when it is determined that there has been no change to the operating program.

[0060] (Appendix 8) The control device (1) according to another aspect of the present disclosure further includes a change point detection unit (140) that detects a change point between the chord detection information output by the chord detection unit (120) and the previously created chord detection information, and the output unit (130) outputs the change point.

[0061] (Supplementary Note 9) An industrial machine (3) according to one aspect of the present disclosure includes any one of the control devices (1) described above.

[0062] REFERENCE SIGNS LIST 1 Control device 3 Industrial machine 4 Control device 5 Network 6 Fog computer 7 Cloud server 11 CPU 12 ROM 13 RAM 14 Non-volatile memory 15, 18, 19, 20 Interface 16 PLC 17 I / O unit 22 Bus 30 Axis control circuit 40 Servo amplifier 50 Servo motor 60 Spindle control circuit 61 Spindle amplifier 62 Spindle motor 63 Position coder 70 Display device 71 Input device 72 External device 100 Program acquisition unit 110 Detection target acquisition unit 120 Code detection unit 130 Output unit 140 Change point detection unit 150 Program analysis unit 160 Control unit 200 Detection history storage unit

Claims

1. A control device comprising: a program acquisition unit that acquires at least one operation program which is either a numerical control program or a robot operation program executed to control industrial machinery; a code detection unit that detects a predetermined code to be detected from the operation program and creates code detection information which includes at least information on the presence or absence of the code to be detected; and an output unit that outputs the code detection information together with information on the operation program.

2. The control device according to claim 1, wherein the output unit displays a list of the operation programs.

3. The control device according to claim 1, wherein the output unit outputs the position of the code to be detected in the operation program.

4. The control device according to claim 1, wherein the output unit outputs the number of the detection target codes included in the operation program.

5. The control device according to claim 1, wherein the code to be detected includes a code for changing a setting value.

6. The control device according to claim 1, further comprising a detection target acquisition unit that acquires a predetermined detection target code.

7. The control device according to claim 1, wherein the output unit outputs the previously created chord detection information when it determines that there is no change in the operation program.

8. The control device according to claim 1, further comprising a change point detection unit that detects a change point between the chord detection information output by the chord detection unit and previously created chord detection information, and the output unit outputs the change point.

9. An industrial machine equipped with a control device according to any one of claims 1 to 8.

Images