Control device

Abstract

Provided is a technology that enables efficient comparison and analysis of sets of drive control information that produced different results for the same operation in a control device for controlling an industrial machine. A control device 10 comprises: an operation history verification unit 14 that verifies whether an operation performed on an industrial machine 1 is already recorded in a recorded operation history; a drive control information acquisition unit 15 that acquires drive control information including at least one of information relating to the drive of the industrial machine 1 and information relating to the control of the control device 10 during the execution of the operation on the industrial machine 1; and a drive control information difference extraction unit 16 that, if the verification result from the operation history verification unit 14 indicates that the operation is already recorded, compares drive control information recorded in association with the recorded operation with the drive control information acquired by the drive control information acquisition unit 15, and extracts the difference. The control device 10 outputs the difference in drive control information for the same operation as extracted by the drive control information difference extraction unit 16.

Description

Control device ,

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[0001] The present disclosure relates to a control device.

[0002] Conventionally, there has been known a technique of storing the content of an operation on a control target such as an industrial machine as an operation history and using it for reference of operations and trouble shooting. For example, Patent Documents 1 to 4 describe this type of technique. <​​​​​​​​​​​​​This disclosure relates to a control device for driving and controlling an industrial machine and recording an operation history, comprising: an operation history verification unit that checks whether an operation performed on the industrial machine is already recorded in a recorded operation history; a drive control information acquisition unit that acquires drive control information including at least one of information related to the driving of the industrial machine and information related to the control of the control device at the time the operation of the industrial machine is performed; and a drive control information difference extraction unit that, as a result of the verification by the operation history verification unit, if the operation is already recorded, compares the drive control information recorded in association with the recorded operation with the drive control information acquired by the drive control information acquisition unit and extracts the difference, and outputs the difference of the drive control information for the same operation extracted by the drive control information difference extraction unit.

[0008] This is a functional block diagram of the control device according to the first embodiment. This is a table showing an example of drive control information associated with the operation history. This is a table showing an example of an executed operation and the current drive control information corresponding to the executed operation. This is a table showing an example of the difference in drive control information extracted by the drive control information difference extraction unit. This is a functional block diagram of the control device according to the second embodiment. This is a functional block diagram of the control device according to the third embodiment. This is a table showing an example of drive control information associated with the operation history matched based on the operation group. This is a functional block diagram of the control device according to the fourth embodiment. This is a functional block diagram of the control device according to the fifth embodiment. This is a functional block diagram of the control device according to the sixth embodiment.

[0009] The embodiments of this disclosure will be described in detail below with reference to the drawings. In the description of the second and subsequent embodiments, components common to the first embodiment will be denoted by the same reference numerals, and their descriptions will be omitted as appropriate.

[0010] [First Embodiment] Figure 1 is a functional block diagram of the control device 10 according to the first embodiment. The control device 10 shown in Figure 1 is, for example, a numerical control device that controls the drive of an industrial machine 1, or an industrial PC such as an IPC (Industrial Personal Computer). The industrial machine 1 is, for example, a machine tool or robot that performs cutting of a workpiece. The control device 10 may be the numerical control device itself, or it may be composed of an edge computer, cell computer, or host computer connected to the numerical control device via a wired / wireless network, or it may be implemented on a cloud server or the like.

[0011] The control device 10 is configured using a computer equipped with, for example, memory such as ROM (read-only memory) and RAM (random access memory), a CPU (central processing unit), a storage device such as an HDD (Hard Disk Drive) and an SSD (Solid State Drive), and a communication control device, all connected to each other via a bus. In this embodiment, the CPU, memory, and control program stored in the memory of the control device 10 work together to realize various functions for controlling the industrial machine 1.

[0012] The control device 10 of this embodiment, shown in Figure 1, has the function of driving and controlling the industrial machine 1 and maintaining the operation history of the industrial machine 1. The control device 10 has a storage area 20 that stores the operation history, which is the history of operations performed on the industrial machine 1, and drive control information stored in association with the operations.

[0013] The operation history includes information such as the details of the operations performed on industrial machine 1 and events that occurred as a result of those operations (the state of industrial machine 1). Events include, for example, alerts that occur when there is a problem during editing of the processing program or during operation, and specific messages received on ports opened by communication operations. Changes in the control mode of the industrial machine, such as editing mode and processing mode, may also be recorded as events.

[0014] The drive control information includes at least one of the following: information related to the drive of the industrial machine 1 and information related to the control of the control device 10.

[0015] Information related to the operation of industrial machine 1 includes, for example, information about the operating environment such as parameter settings, option settings, and runtime version. Parameter settings include, for example, various types of information such as tool information. Option settings include, for example, specially set parameter settings, such as those that are paid for. The runtime version is information indicating the platform library software for running the application.

[0016] The information related to the control of the control device 10 includes, for example, information related to control by the control device 10, such as the control mode, axis position, and execution process. The control mode is information indicating various modes such as editing mode and machining mode. The axis position is information indicating the position of each axis during the operation of the industrial machine 1. The execution process is, for example, the program number of a machining program.

[0017] Figure 2 is a table showing an example of drive control information associated with the operation history. Figure 2 shows an example of the operation history, including the operation number, operation details, and operation time. The operation number indicates the sequence of operations. In this example, the operation details are specific operation information such as key input [E], key input [Enter], mode change, program selection, reset ON, reset OFF, hold release, and machining start. The operation time is the time the operation was performed.

[0018] Figure 2 also shows an example of drive control information, including parameter settings, control mode, and execution process. In this example, the parameter settings are tool information such as "No. 11 = 202, No. 15 = 315" and "No. 11 = 209, No. 15 = 315". 202, 209, and 315 are tool numbers, and each tool number is associated with information about the tool's shape and operation, such as tool length and offset. As mentioned above, the control mode is information corresponding to the operation mode, such as editing mode or machining mode. The execution process is a program number such as "O1000" or "O1001".

[0019] Returning to Figure 1, the functional parts of the control device 10 will be described. The control device 10 includes the following functional parts: an operation input unit 11, an operation execution unit 12, an operation history recording unit 13, an operation history verification unit 14, a drive control information acquisition unit 15, a drive control information difference extraction unit 16, and a history output unit 17.

[0020] The operation input unit 11 is an input device such as a touch panel display, key switch, or keyboard, and receives operations input by the operator. The operator's operations received by the operation input unit 11 are output to the operation execution unit 12. The operation input unit 11 may be located outside the control device 10.

[0021] The operation execution unit 12 executes control corresponding to the operation input through the operation input unit 11. For example, the operation execution unit 12 transmits a control signal to control the industrial machine 1 based on the operation.

[0022] In this embodiment, information regarding operations performed by the operation execution unit 12 is output to the operation history recording unit 13, the operation history verification unit 14, and the drive control information acquisition unit 15.

[0023] The operation history recording unit 13 acquires the operations performed by the operation execution unit 12 and stores them as operation history in the storage area 20 constructed in the control device 10. The operations recorded in the storage area 20 refer to information about the operations, such as the operation number, operation content, and operation time.

[0024] The operation history verification unit 14 checks whether the operation performed on the industrial machine 1 is recorded in the storage area 20. If the operation history verification unit 14 finds that the same operation performed on the industrial machine 1 is stored in the storage area 20, it outputs to the drive control information difference extraction unit 16 that there is a recorded operation.

[0025] The drive control information acquisition unit 15 acquires drive control information at the time of operation execution performed by the operation execution unit 12.

[0026] The drive control information difference extraction unit 16 extracts the difference between the drive control information corresponding to the operation executed by the operation execution unit 12 and the drive control information corresponding to the operation recorded in the storage area 20. The difference extraction process of the drive control information difference extraction unit 16 is performed based on the result of the verification by the operation history verification unit 14.

[0027] When the operation history matching unit 14's matching result indicates that the operation executed by the operation execution unit 12 is the same as the operation recorded in the storage area 20, the difference extraction process of the drive control information difference extraction unit 16 is executed. In the difference extraction process, the drive control information difference extraction unit 16 obtains drive control information corresponding to the operation to be matched from the drive control information acquisition unit 15, and also obtains drive control information corresponding to the operation determined to be the same from the storage area 20. Then, the drive control information difference extraction unit 16 extracts the difference between the drive control information obtained from the drive control information acquisition unit 15 and the drive control information obtained from the storage area 20, and outputs the difference information indicating the extracted difference to the history output unit 17.

[0028] The history output unit 17 outputs the difference information extracted by the drive control information difference extraction unit 16. The history output unit 17 is, for example, a display device that displays images such as a display. However, the history output unit 17 is not limited to a display device and may be configured as an output device that outputs difference information to an external computer.

[0029] Next, we will explain a specific example of how the difference in drive control information is extracted. Figure 3 is a table showing an example of an execution operation and the current drive control information corresponding to that operation. As shown in Figure 3, in this example, the operation input unit 11 accepts the input of the operation "Hold Release". The operation execution unit 12 then controls the operation of the industrial machine 1 based on the drive control information in which the parameter settings are "No. 11 = 202, No. 15 = 315", the control mode is "Processing Mode", and the execution process is "O1001". Note that in the table in Figure 3, the operation number and operation time are not input information at this point because they have not yet been stored in the memory area 20.

[0030] The operation history verification unit 14 verifies whether the hold release operation performed on the industrial machine 1 is recorded in the storage area 20. In this example, the operation history verification unit 14 detects operation 19 in the operation history of Figure 2 as the same operation and notifies the drive control information difference extraction unit 16 that operation 19 is recorded as the same operation.

[0031] Furthermore, the drive control information acquisition unit 15 acquires the current drive control information when the "hold release" operation is performed and notifies the drive control information difference extraction unit 16.

[0032] When the drive control information difference extraction unit 16 receives the matching result from the operation history matching unit 14, it acquires drive control information stored in the memory area 20 in association with the operation 19 detected as the same operation. In this example, the drive control information difference extraction unit 16 acquires drive control information with parameter settings of "No. 11 = 209, No. 15 = 315", control mode of "processing mode", and execution process of "O1001". The drive control information difference extraction unit 16 then performs a process to extract the difference between the drive control information corresponding to operation 19 in Figure 2 acquired from the memory area 20 and the drive control information in Figure 3 acquired by the drive control information acquisition unit 15.

[0033] Figure 4 is a table showing an example of a difference in drive control information extracted by the drive control information difference extraction unit 16. As shown in Figure 4, the drive control information difference extraction unit 16 extracts the difference as the information entered in parameter setting No. 11 being different. In this example, the difference is that in the drive control information corresponding to the recorded operation 19, 209 is set for No. 11, while in the drive control information corresponding to the operation executed this time, 202 is set for No. 11.

[0034] The extraction results from the drive control information difference extraction unit 16 are output to the history output unit 17. The history output unit 17 performs processing to display the extracted differences as images or the like. For example, the history output unit 17 displays difference information as shown in Figure 4. In this example, not only the differences but also the fact that the control mode and execution process are the same is notified.

[0035] Furthermore, the operation history recording unit 13 performs the process of recording the new execution operation that has resulted in a difference, and the drive control information corresponding to the operation, in the storage area 20. For example, the operation history recording unit 13 records the operation "Hold Release" as operation 21. At the time of this recording, the operation number, operation time, etc., are assigned. The operator records the drive control information corresponding to this operation in the storage area 20 in association with it. In this example, drive control information with parameter settings of "No. 11 = 202, No. 15 = 315", control mode of "Machining Mode", and execution process of "O1001" is stored in the storage area 20 in association with the "Hold Release" operation. Note that in this embodiment, the operation history recording unit 13 does not record new execution operations if no difference occurs.

[0036] The memory area 20 will store two types of "hold operations". Next, if the executed operation is again a "hold operation", the drive control information difference extraction unit 16 extracts the difference between the drive control information of the two types of "hold operations" stored in the memory area 20 and the current operation. The history output unit 17 then outputs the extraction results of the two differences.

[0037] As described above, the control device 10 of the first embodiment includes: an operation history verification unit 14 that checks whether an operation performed on the industrial machine 1 is already recorded in the recorded operation history; a drive control information acquisition unit 15 that acquires drive control information including at least one of the information related to the driving of the industrial machine 1 and the information related to the control of the control device 10 at the time of operation of the industrial machine 1; and a drive control information difference extraction unit 16 that, as a result of the verification by the operation history verification unit 14, compares the drive control information recorded in association with the recorded operation and the drive control information acquired by the drive control information acquisition unit 15 and extracts the difference, and outputs the difference in drive control information for the same operation extracted by the drive control information difference extraction unit 16.

[0038] This makes it easy and efficient to check the difference between the drive control information corresponding to the operation recorded in the memory area 20 and the results obtained from the same operation. There is no need to acquire the operation history and drive control information separately and combine them based on time series, etc., and the effort required to investigate the factors that cause different results from the same operation is reduced. By saving all past operations without omission, it becomes possible to easily investigate the factors in various cases.

[0039] Furthermore, in this embodiment, the drive control information includes at least one of the following: parameter settings, option settings, runtime version, control mode, axis position, and execution process of the control device 10. This makes it possible to identify the factors that resulted in different outcomes for the same operation by using information related to the drive of the industrial machine 1 actually used and the control information of the control device 10.

[0040] Furthermore, in this embodiment, the operation history also includes events generated by the operation, and the operation history matching unit 14 can also match events generated by the operation. This makes it possible to identify the factors that led to different results for the same operation, taking into account events generated by the operation.

[0041] [Second Embodiment] Next, with reference to Figure 5, the configuration of the control device 10a of the second embodiment will be described. Figure 5 is a functional block diagram of the control device 10a according to the second embodiment.

[0042] As shown in Figure 5, the control device 10a of the second embodiment includes, as functional units, an operation input unit 11, an operation execution unit 12, an operation history recording unit 13, an operation history verification unit 14, a drive control information acquisition unit 15, a drive control information difference extraction unit 16, and a history output unit 17.

[0043] In the second embodiment, the control device 10a is connected to an external control device 10b. In the second embodiment, the drive control information is not stored in the storage area 20a where the operation history is stored by the operation history recording unit 13. Instead, the operation history and the drive control information corresponding to the operations in the operation history are recorded in the storage area 20b of the external control device 10b.

[0044] The operation history verification unit 14 refers to the operation history stored in the storage area 20b of the external control device 10b, and verifies whether there is a recorded operation identical to the executed operation. Then, when the same operation is recorded, the drive control information difference extraction unit 16 acquires the drive control information stored in the storage area 20b of the external control device 10b, and performs a process of extracting the difference from the drive control information corresponding to the executed operation. The extracted difference is output by the history output unit 17.

[0045] Note that a storage area 20b may be constructed in a memory device connected to the control device 10 instead of the external control device 10b. In this case as well, the basic process is the same as the process described above.

[0046] As described above, in the second embodiment, the operation history verification unit 14 and the drive control information difference extraction unit 16 perform verification and difference extraction on the operation history and drive control information recorded in at least one of the control device 10a, another control device 10b connected to the control device 10a, or a memory device attached to the control device 10a.

[0047] Thereby, it is possible to perform a factor analysis that results in different results for the same operation by using the operation history and drive control information recorded in the external storage area 20b of the control device 10.

[0048] [Third Embodiment] Next, referring to FIG. 6, the configuration of the control device 10c of the third embodiment will be described. FIG. 6 is a functional block diagram of the control device 10c according to the third embodiment.

[0049] As shown in FIG. 6, the control device 10c of the third embodiment includes, as functional units, an operation input unit 11, an operation execution unit 12, an operation history recording unit 13, an operation history verification unit 14, a drive control information acquisition unit 15, a drive control information difference extraction unit 16, a history output unit 17, and an operation history verification setting acquisition unit 18.

[0050] The control device 10c of the third embodiment is different from the first embodiment in that it further includes an operation history verification setting acquisition unit 18 in addition to the configuration of the control device 10 of the first embodiment.

[0051] The operation history matching setting acquisition unit 18 acquires the trigger for starting the matching, the period of the operation history to be matched, and the group of operations. The trigger for starting the matching, the period of the operation history to be matched, and the group of operations may be acquired from specific file format data set in the control device 10c, or based on input operations from the operation input unit 11, or from an external computer.

[0052] The operation history matching setting acquisition unit 18 notifies the operation history matching unit 14 of the trigger for starting the matching, the period of the operation history to be matched, and the group of operations. The operation history matching unit 14 performs a matching against the storage area 20 based on the notified trigger for starting the matching, the period of the operation history to be matched, and the group of operations.

[0053] Referring to Figure 7, the trigger for initiating the matching process, the period of the operation history to be matched, and the matching process performed based on the operation group will be explained. Figure 7 is a table showing an example of drive control information associated with the operation history to be matched based on the operation group.

[0054] In the example shown in Figure 7, the operation history matching setting acquisition unit 18 acquires the trigger for starting the matching, the period of the operation history to be matched, and the operation group as follows: mode change, program selection, reset ON, reset OFF, hold release.

[0055] The trigger for initiating the verification process is the execution of the following operations in order: mode change, program selection, reset ON, reset OFF, and hold release. The period of the operation history to be verified is a predetermined period determined based on the operation time of the operation content stored in the memory area 20.

[0056] The operation history matching unit 14 sequentially matches the operations performed by the operation execution unit 12 with the notified group of operations. If the order of operations performed by the operation execution unit 12 matches, the operation history matching unit 14 notifies the drive control information difference extraction unit 16 of the corresponding operation history. The drive control information acquisition unit 15 and the drive control information difference extraction unit 16 acquire drive control information from the storage area 20, similar to the first embodiment, and extract the difference by comparing it with the drive control information corresponding to the executed operations.

[0057] As described above, the control device 10c of the third embodiment further includes an operation history matching setting acquisition unit 18 that acquires the trigger for starting matching, the period of the operation history to be matched, and the operation group in the operation history matching unit 14. The operation history matching unit 14 performs matching with the operation group in the acquired period of the operation history according to the trigger for matching acquired from the operation history matching setting acquisition unit 18.

[0058] This allows the operation history matching setting acquisition unit 18 to compare drive control information for operations that match the specified conditions. By limiting the triggers for matching, including settings such as matching or not matching, as well as the period of operation history to be matched and the group of operations, the burden on the performance and resources of the control device 10c can be reduced.

[0059] [Fourth Embodiment] Next, with reference to Figure 8, the configuration of the control device 10d of the fourth embodiment will be described. Figure 8 is a functional block diagram of the control device 10d according to the fourth embodiment.

[0060] As shown in Figure 8, the control device 10c of the third embodiment includes, as functional units: an operation input unit 11, an operation execution unit 12, an operation history recording unit 13, an operation history verification unit 14, a drive control information acquisition unit 15, a drive control information difference extraction unit 16, a history output unit 17, and a drive control information determination unit 19.

[0061] The control device 10d of the fourth embodiment differs from the first embodiment in that, in addition to the configuration of the control device 10 of the first embodiment, it further includes a drive control information determination unit 19.

[0062] The drive control information determination unit 19 determines the target operation and the content of the drive control information to be acquired by the drive control information acquisition unit 15. The target operation is a pre-specified operation. The content of the drive control information is information associated with the target operation, such as the parameter settings, control mode, execution process, or a combination thereof shown in Figure 2. The drive control information determination unit 19 notifies the drive control information acquisition unit 15 of the target operation and the content of the drive control information to be acquired from the operation execution unit 12.

[0063] The drive control information acquisition unit 15 monitors the operations performed by the operation execution unit 12 and determines whether or not they are target operations. If the operation performed by the operation execution unit 12 matches a target operation, the drive control information acquisition unit 15 acquires the executed target operation and the drive control information corresponding to the operation. If the operation performed by the operation execution unit 12 does not match a target operation, the drive control information acquisition unit 15 does not acquire the operation and the drive control information corresponding to the operation. Also, if the drive control information does not match the drive control information specified by the drive control information determination unit 19, the drive control information acquisition unit 15 does not acquire the drive control information.

[0064] As described above, the control device 10d further includes a drive control information determination unit 19 that determines the target operation for which drive control information is to be acquired and the content of the drive control information to be acquired in the drive control information acquisition unit 15. The drive control information acquisition unit 15 acquires drive control information when the target operation is executed, in accordance with the target operation and the content of the drive control information determined by the drive control information determination unit 19.

[0065] This limits the operations and corresponding drive control information acquired by the drive control information acquisition unit 15. Consequently, it is possible to reduce the resources used, such as memory capacity, compared to a configuration that acquires all operations and corresponding drive control information.

[0066] [Fifth Embodiment] Next, with reference to Figure 9, the configuration of the control device 10e of the fifth embodiment will be described. Figure 9 is a functional block diagram of the control device 10e according to the fifth embodiment.

[0067] As shown in Figure 9, the control device 10e of the fifth embodiment includes, as functional units, an operation input unit 11, an operation execution unit 12, an operation history recording unit 13, an operation history verification unit 14, a drive control information acquisition unit 15, a drive control information difference extraction unit 16, a history output unit 17, and a drive control information recording unit 21.

[0068] The control device 10e of the fifth embodiment differs from the first embodiment in that, in addition to the configuration of the control device 10 of the first embodiment, it further includes a drive control information recording unit 21.

[0069] The drive control information recording unit 21 stores the drive control information of the executed operation obtained from the drive control information acquisition unit 15 in the storage area 20, associating it with the operation. The association between the operation and the drive control information is performed using the operation number, operation time, operation ID, and operation execution order, etc. The operation ID is an identification number consisting of unique numbers and characters that can distinguish and identify the operation from others.

[0070] In this embodiment, the operation history recording unit 13 and the drive control information recording unit 21 store the operation and the corresponding drive control information in the storage area 20 if the drive control information is different, even if the operation is the same. If a combination of a newly acquired operation and the corresponding drive control information is already recorded in the storage area 20, the recording of the drive control information may be omitted.

[0071] As described above, the control device 10e of this embodiment further includes a drive control information recording unit 21 that records drive control information acquired by the drive control information acquisition unit 15, and the drive control information is recorded in association with the operation history.

[0072] This allows drive control information to be automatically recorded in association with the operations performed, eliminating the need to manually record drive control information.

[0073] Furthermore, in this embodiment, the operation history and drive control information are associated based on at least one of the following: operation time, operation number, operation execution order, and operation ID.

[0074] This allows for the association of drive control information using information obtained along with the operation execution, such as the operation time, operation number, operation execution order, and operation ID.

[0075] [Sixth Embodiment] Next, with reference to Figure 10, the configuration of the control device 10f of the sixth embodiment will be described. Figure 10 is a functional block diagram of the control device 10f according to the sixth embodiment.

[0076] As shown in Figure 10, the control device 10f of the sixth embodiment includes, as functional units: an operation input unit 11, an operation execution unit 12, an operation history recording unit 13, an operation history verification unit 14, a drive control information acquisition unit 15, a drive control information difference extraction unit 16, a history output unit 17, and a drive control information difference recording unit 22.

[0077] The control device 10f of the sixth embodiment differs from the first embodiment in that, in addition to the configuration of the control device 10 of the first embodiment, it further includes a drive control information difference recording unit 22.

[0078] The drive control information difference recording unit 22 stores the difference in drive control information obtained from the drive control information difference extraction unit 16 in the storage area 20, associating it with the operation and drive control information. The association between the operation, drive control information, and difference is performed using the operation number, operation time, operation ID, and operation execution order, etc.

[0079] As described above, the control device 10f of the sixth embodiment further includes a drive control information difference recording unit 22 that records the difference in drive control information extracted by the drive control information difference extraction unit 16, and the difference extracted by the drive control information difference extraction unit 16 is recorded in association with the operation history and drive control information.

[0080] This allows for the automatic recording of differences in drive control information, eliminating the need to manually record these differences, and enabling easy and efficient comparison and analysis of drive control information differences at any time.

[0081] Furthermore, in this embodiment, the operation history, drive control information, and the difference in drive control information are associated based on at least one of the following: operation time, operation number, operation execution order, and operation ID.

[0082] This allows for the association of differences in drive control information using information obtained along with the operation execution, such as the operation time, operation number, operation execution order, and operation ID.

[0083] This disclosure is not limited to the above-described implementation, and any modifications or improvements that can achieve the objectives of this disclosure are included. For example, the configuration of the first to fourth embodiments can be modified by adding the drive control information recording unit 21 of the fifth embodiment and the drive control information difference recording unit 22 of the sixth embodiment. In this way, the configurations of the first to sixth embodiments can be combined. Furthermore, in the above embodiments, recording to the storage areas 20 and 20b is not performed when the operation and drive control information are the same combination, but a configuration in which recording to the storage areas 20 and 20b is performed even when the combination is the same is also possible.

[0084] With respect to the above embodiments and modified examples, the following additional notes are disclosed. (Addendum 1) A control device (10, 10a, 10c, 10d, 10f) that drives and controls an industrial machine (1) and records an operation history, comprising: an operation history verification unit (14) that checks whether an operation performed on the industrial machine (1) is already recorded in the recorded operation history; a drive control information acquisition unit (15) that acquires drive control information including at least one of information related to the driving of the industrial machine (1) and information related to the control of the control device (10) at the time of operation execution of the industrial machine (1); and a drive control information difference extraction unit (16) that, as a result of the verification by the operation history verification unit (14), if the operation is already recorded, compares the drive control information recorded in association with the recorded operation with the drive control information acquired by the drive control information acquisition unit (15) and extracts the difference, Control devices (10, 10a, 10c, 10d, 10f) output the difference in the drive control information for the same operation extracted by the drive control information difference extraction unit (16).

[0085] (Note 2) The control device (10a) described in Note 1, wherein the operation history matching unit (14) and the drive control information difference extraction unit (16) perform the matching and difference extraction on the operation history and drive control information recorded in the control device (10a), another control device (10b) connected to the control device (10a), or at least one of the memory devices attached to the control device (10a).

[0086] (Note 3) A control device (10c) as described in Note 1 or 2, further comprising an operation history matching setting acquisition unit (18) that acquires the trigger for starting the matching, the period of the operation history to be matched, and the operation group in the operation history matching unit (14), wherein the operation history matching unit (14) performs the matching with the operation group in the acquired period of the operation history according to the trigger for the matching acquired from the operation history matching setting acquisition unit (18).

[0087] (Note 4) A control device (10d) as described in any of Notes 1 to 3, further comprising a drive control information determination unit (19) that determines the target operation for which to acquire the drive control information and the content of the drive control information to be acquired in the drive control information acquisition unit (15), wherein the drive control information acquisition unit (15) acquires the drive control information when the target operation is executed in accordance with the target operation and the content of the drive control information determined by the drive control information determination unit (19).

[0088] (Note 5) A control device (10e) described in any of Notes 1 to 4, further comprising a drive control information recording unit (21) that records the drive control information acquired by the drive control information acquisition unit (15), wherein the drive control information is recorded in association with the operation history.

[0089] (Note 6) A control device (10f) described in any of Notes 1 to 5, further comprising a drive control information difference recording unit (22) that records the difference of the drive control information extracted by the drive control information difference extraction unit (16), wherein the difference extracted by the drive control information difference extraction unit (16) is recorded in association with the operation history and the drive control information.

[0090] (Note 7) The control device (10e) described in Note 5, wherein the operation history and the drive control information are associated based on at least one of the operation time, operation number, operation execution order, and operation ID.

[0091] (Note 8) The control device (10f) described in Note 6, wherein the operation history, the drive control information and the difference in the drive control information are associated based on at least one of the operation time, operation number, operation execution order and operation ID.

[0092] (Note 9) A control device as described in any of Notes 1 to 8, wherein the drive control information includes at least one of the parameter settings, option settings, runtime version, control mode, axis position, and execution process of the control device.

[0093] (Note 10) A control device as described in any of Notes 1 to 9, wherein the operation history includes events generated by the operation, and the operation history matching unit matches the events generated by the operation.

[0094] 1 Industrial Machinery 10, 10a, 10c, 10d, 10e, 10f Control Device 11 Operation Input Unit 12 Operation Execution Unit 13 Operation History Recording Unit 14 Operation History Verification Unit 15 Drive Control Information Acquisition Unit 16 Drive Control Information Difference Extraction Unit 17 History Output Unit 18 Operation History Verification Setting Acquisition Unit 19 Drive Control Information Determination Unit 21 Drive Control Information Recording Unit 22 Drive Control Information Difference Recording Unit

Claims

1. A control device for driving and controlling an industrial machine and recording an operation history, comprising: an operation history verification unit that checks whether an operation performed on the industrial machine is already recorded in the recorded operation history; a drive control information acquisition unit that acquires drive control information including at least one of information related to the driving of the industrial machine and information related to the control of the control device at the time the operation of the industrial machine is performed; and a drive control information difference extraction unit that, as a result of the verification by the operation history verification unit, the operation is already recorded, compares the drive control information recorded in association with the recorded operation with the drive control information acquired by the drive control information acquisition unit and extracts the difference, and outputs the difference of the drive control information for the same operation extracted by the drive control information difference extraction unit.

2. The control device according to claim 1, wherein the operation history matching unit and the drive control information difference extraction unit perform the matching and difference extraction on the operation history and the drive control information recorded in at least one of the control device, another control device connected to the control device, or a memory device mounted on the control device.

3. The control device according to claim 1 or 2, further comprising an operation history matching setting acquisition unit which acquires a trigger for starting the matching, a period of the operation history to be matched, and a group of operations in the operation history matching unit, wherein the operation history matching unit performs the matching with the group of operations in the acquired period of the operation history according to the trigger for the matching acquired from the operation history matching setting acquisition unit.

4. The control device according to any one of claims 1 to 3, further comprising a drive control information determination unit which determines the target operation for which to acquire the drive control information and the content of the drive control information to be acquired in the drive control information acquisition unit, wherein the drive control information acquisition unit acquires the drive control information when the target operation is executed in accordance with the target operation and the content of the drive control information determined by the drive control information determination unit.

5. The control device according to any one of claims 1 to 4, further comprising a drive control information recording unit for recording the drive control information acquired by the drive control information acquisition unit, wherein the drive control information is recorded in association with the operation history.

6. The control device according to any one of claims 1 to 5, further comprising a drive control information difference recording unit for recording the difference in the drive control information extracted by the drive control information difference extraction unit, wherein the difference extracted by the drive control information difference extraction unit is recorded in association with the operation history and the drive control information.

7. The control device according to claim 5, wherein the operation history and the drive control information are associated based on at least one of the operation time, operation number, operation execution order, and operation ID.

8. The control device according to claim 6, wherein the operation history, the drive control information, and the difference in the drive control information are associated based on at least one of the operation time, operation number, operation execution order, and operation ID.

9. The control device according to any one of claims 1 to 8, wherein the drive control information includes at least one of the parameter settings, option settings, runtime version, control mode, axis position, and execution process of the control device.

10. The control device according to any one of claims 1 to 9, wherein the operation history includes events generated by the operation, and the operation history matching unit matches the events generated by the operation.

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