JP2002358114A - Simulation device and simulation method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce any time or labor required for verification to be executed by the simulation of a sequence program for controlling a facility. SOLUTION: The operation models of an actuator and a work changing according to the lapse of a time are set in response to an operation command from a sequencer 1, and the detection condition of a detector for detecting the positions is set, and the change of the positions of the actuator and the work is calculated in each prescribed time based on the operation models, and when the detection condition of the detector is fulfilled as the result of the calculation, a pseudo signal is outputted to the sequencer.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device and a method for simulating equipment operation using a sequencer program.

[0002]

2. Description of the Related Art Production equipment including a device for moving a work and a robot for processing the work is controlled by a sequencer such as a PLC (programmable ladder controller). Although the PLC program is manually created, a long program may cause defects. In this case, for example, when the actuator B is to be operated after the actuator A, the scheduled operation is not performed, or when there is an abnormality in the actuator and the operation of the equipment should be stopped immediately, or when the equipment does not stop. A problem arises in that a recovery operation is performed in response to the stoppage of operation but is not restarted.

[0003] Although it is possible to verify whether there is any abnormality in a program by actually operating a production facility, time and cost are increased. Also, even if it is known that the actual equipment does not operate as planned in the program, it is difficult to find out where the defect exists in the program. Further, when the control program needs to be completed before the assembly of the production equipment is completed, on-site verification cannot be performed.

On the other hand, conventionally, as shown in FIG. 4, the equipment-side PLC 1 is connected to the simulator-side PLC 32, and the simulator-side PLC 32 generates a pseudo signal according to the output (operation command) of the equipment-side PLC 1. Equipment side PLC
1 to the equipment side PL
Verification of a program downloaded to C1 is performed. That is, the PLC on the simulator side
32 includes respective programs 33 to 37 for timer setting, time calculation, pseudo signal generation, and input / output address conversion, and calculates the elapsed time by the time calculation program 34 based on the output of the equipment-side PLC 1. When the set response time is reached, a pseudo signal is generated by the pseudo signal generation program 35 and given to the equipment-side PLC 1. The setting of the response time by the timer setting program is performed by the computer 5 having input means.

Japanese Unexamined Patent Application Publication No. 9-230923 discloses a simulator-side PLC as shown in FIG. 4, which is provided with a circuit for varying the response time so that environmental conditions close to the response time of actual equipment are provided. It is described that the simulation is performed by setting the response time different from the actual equipment response time, or by performing the simulation when the equipment abnormality occurs by providing an abnormality generating circuit etc. that simulates the equipment abnormality. ing.

Accordingly, in the case of a simulation apparatus which simply responds to the output of the equipment-side PLC with time as described above, the flow of the simulation is as shown in FIG.

That is, a signal output setting (timer setting) for normal operation is performed assuming that the equipment operates without abnormality, and a simulation is executed to check for a program abnormality (S1 to S4). If there is a program error, correct it, set the signal output for normal operation again, and execute the simulation (S4 → S5 → S
1) The correction of the program, the setting of the signal output, and the simulation are repeated until the program is no longer abnormal.

When the verification of the program for the normal operation is completed, a signal output for the occurrence of an abnormality is set assuming an abnormality which may occur in the equipment, a simulation is executed from the beginning, and the presence or absence of a program abnormality is checked ( S
6-1 to S9-1). That is, when an abnormal pseudo signal is output from the simulation device side, it is verified whether the control program recognizes the pseudo signal as abnormal and stops the equipment operation. If the program does not respond appropriately, that is, if there is a program error, correct it, set the signal output for normal operation again, and execute the simulation (S9-1 → S5 → S5).
1) Check for a program error during normal operation. Then, after confirming that no program abnormality occurs during normal operation, the simulation at the time of abnormality occurrence is executed again (S6 to S9).

When verifying a program assuming occurrence of various abnormalities, every time the abnormality occurrence simulation is completed and it is confirmed that there is no program abnormality, it is checked whether or not all verification items have been completed. (S10-1) If there is an abnormal item to be verified, the operation of setting the signal output therefor and executing the simulation is repeated (S10-1 → S6-2 to S10-2 →). …
→ S6-N to S9-N → S11).

[0010]

The above-mentioned conventional simulation apparatus has the following problems.

First, as a result of the simulation, if an abnormality is found in the sequencer program, the cause is clarified in relation to the state of the equipment at the time of occurrence of the abnormality, and the program is corrected. Since it only monitors time and responds (outputs a pseudo signal) to the output of the PLC, it is not possible to reproduce the state of the equipment when an abnormality has occurred, It is also difficult to find out if it was in a bad state, and it takes time to modify the program.

Further, in the case of a facility that performs processing on a workpiece in relation to each other, such as when a plurality of actuators operate with a slight shift in time, even if an attempt is made to stop the simulation in the middle, the response time may be lost. As a result, the response time cannot be managed. That is, the simulation needs to be performed without interruption as a series of flows from the start of the equipment to a predetermined stage. Therefore, when a program abnormality is found and corrected, it is necessary to restart the simulation from the beginning each time, which takes a lot of time.

Further, the signal output setting for normal operation, which is performed on the assumption that each part of the equipment operates normally, can be used only for program verification at the time of normal operation. In verification of the assumed program, it is necessary to separately set signal output, for example, by setting different response times to operation commands for outputting a pseudo signal. Therefore, when verifying a program assuming various kinds of abnormalities, it is necessary to individually set signal outputs for occurrence of abnormalities for each of the various kinds of assumed abnormalities, which requires a great deal of labor. Cost.

Further, in an actual facility, if the facility stops operating due to an abnormality such as an actuator not operating during its operation, the site where the abnormality occurs is inspected and repaired, and the facility is operated immediately before the abnormality occurs. It is often returned to a state and then restarted. However, the conventional simulation device cannot perform a simulation in accordance with the work at the time of such an actual abnormality occurrence.

That is, when performing a simulation assuming an emergency stop due to equipment abnormality, if the simulation cannot be continued due to the assumed abnormality, even if it is attempted to restore the state immediately before the abnormality occurred, a large number of actuators are usually used. Is in a state where the response time has elapsed halfway, and even if an attempt is made to resume the simulation, the response time cannot be managed.

Furthermore, the work is usually moved by being pushed by a conveyor or a piston rod or the like. In a simulation assuming that the equipment is stopped in the middle of the movement, it is assumed that the simulation is performed based on the response time before the emergency stop. Even if the work can be returned to a state in which it can be managed and restarted, the work does not return because there is no information on the position of the work. For example, after the restart of the simulation, the next work detection signal (pseudo signal)
Is issued, and the work that has been stopped earlier has disappeared. As a result, the information on the work differs between the simulation device side and the sequencer side,
The simulation cannot be continued. Therefore, it is necessary to separately set the work to return from the emergency stop position to the position before the stop, which makes the setting complicated.

An object of the present invention is to solve the above problems.

[0018]

Therefore, the present invention simulates a change in the state of equipment, calculates the change state at predetermined time intervals, and generates a pseudo signal in accordance with the change state. This is a solution to the problem.

First, the invention according to claim 1 is a simulation apparatus for simulating equipment operation by a program of a sequencer, and simulates a change in state of the equipment based on an output from the sequencer to simulate the equipment. State calculating means for calculating a change state at predetermined time intervals, and a pseudo signal generating means for generating a pseudo signal related to the state to be output to the sequencer according to the change state of the equipment calculated by the state calculating means And characterized in that:

That is, this simulation apparatus
The simulation is performed in two stages, which is different from the concept of the conventional simulation. First, it simulates how the state of the equipment changes according to the output from the sequencer, that is, the operation command. And whether the equipment is ready to generate a pseudo signal,
In short, it simulates whether or not there is a change in the output of a detector that detects a change in the state of the equipment as a result of the movement of the equipment.

Therefore, if a program abnormality is found by operating the sequencer, the state of the equipment at that time can be known, and the cause of the program abnormality can be investigated in relation to the state of the equipment. Modification becomes easy. Further, when a program abnormality is found and corrected, the state of the equipment at the time of occurrence of the abnormality is known, so even if the equipment is a facility in which a plurality of actuators execute processing on a workpiece in association with each other, The simulation can be continued by reproducing the state immediately before the program abnormality. That is, there is no need to restart the simulation from the beginning.

According to a second aspect of the present invention, in the simulation apparatus according to the first aspect, the state calculation means includes:
Actuator position calculating means for calculating a change position of the actuator constituting the equipment due to the output of the sequencer at predetermined time intervals, and work position calculating means for calculating a change position of a work that is moved by the actuator and moves at predetermined time intervals Wherein the pseudo signal generation means generates a pseudo signal in accordance with the position of the actuator and the work calculated by each of the calculation means.

Therefore, when a program error is found, the cause of the program error can be determined by grasping the positional relationship between the actuator of the equipment and the work, and the program can be easily corrected. In verifying the corrected program, the simulation may be continued by reproducing the state of the actuator and the work before the occurrence of the program abnormality, and the problem of the work disappearing does not occur.

According to a third aspect of the present invention, in the simulation apparatus according to the second aspect, the state calculation means includes:
An operation setting means for setting an operation model of each of the actuator and the work whose position changes with time based on the output of the sequencer; and each of the calculation means calculates the operation model based on the output of the sequencer based on the operation model. Detector setting means for calculating a change position of each of the actuator and the work for each predetermined time, and setting the detection condition of a detector for detecting the operation position of each of the actuator and the work for sequence control. Wherein the pseudo signal is generated based on the position of each of the actuator and the work calculated by the calculation means at predetermined time intervals and the detection conditions set by the detector setting means.

That is, by setting the operation model of each of the actuator and the work, it is possible to easily calculate the position of each of the actuator and the work which changes every moment based on the output of the sequencer. Thus, by setting the detection conditions relating to the operation positions of the actuator and the work, a pseudo signal to be output to the sequencer can be generated from the calculation results of the position calculation means of the actuator and the work.

According to a fourth aspect of the present invention, there is provided the simulation apparatus according to any one of the first to third aspects, further comprising an abnormality setting means for setting a phenomenon assuming an abnormality of the facility. And

Therefore, if the signal output setting is performed assuming that the respective parts of the equipment operate normally, the state of the equipment during the simulation can be specified as described above. For example, the actuators A and B operate simultaneously. In addition, since it is possible to specify a state in which A is immediately before the end of operation, it is possible to make an abnormality setting so that an appropriate abnormality occurs during normal operation. Need not be individually set.

Further, for example, when an abnormal signal indicating that the equipment must be stopped is generated, and it is confirmed that the equipment is stopped as planned and there is no abnormality in the program, the simulation is not terminated. You can continue. That is, as described above, since the state of the equipment during the simulation is known, the simulation can be returned to before the output of the abnormal pseudo signal, the output of the abnormal pseudo signal can be released, and the simulation can be continued. It is possible to verify the restartability of the equipment once it has been stopped.

In other words, when the actual equipment stops due to an abnormality during its operation, the cause of the abnormality is clarified and removed at the site, and the equipment is manually returned to the state immediately before the stop and restarted. However, it is possible to perform a simulation in accordance with such actual on-site work.

According to a fifth aspect of the present invention, there is provided a simulation method for simulating a sequencer for controlling equipment, wherein an operation model of the equipment is set, the state of which changes with the passage of time in response to an output from the sequencer. A change state of the equipment caused by the output of the sequencer is calculated at predetermined time intervals based on the operation model, and a pseudo signal is generated according to the change state of the equipment and output to the sequencer.

Therefore, according to this simulation method, when a program abnormality is found by operating the sequencer, the state of the equipment at that time can be known, and the cause of the program abnormality is determined in relation to the state of the equipment. And the program can be easily modified. Further, when a program abnormality is found and corrected, the state of the facility at the time of occurrence of the abnormality and immediately before the abnormality can be known. However, the simulation can be continued by reproducing the state immediately before the program abnormality. That is, there is no need to restart the simulation from the beginning.

[0032]

As described above, according to the first aspect of the present invention, a change in the state of the equipment is simulated based on the output from the sequencer, and the change state of the equipment is calculated at predetermined time intervals. Since a pseudo signal to be output to the sequencer is generated according to the calculated change state of the equipment,
If a program error is found, it is easy to find the cause and, consequently, correct the program.In addition, it is possible to continue the simulation by reproducing the state immediately before the program error occurred, reducing the time or labor required for program verification. Can be reduced.

According to the second aspect of the present invention, there is provided means for calculating a change position of the actuator at predetermined time intervals,
Means for calculating the change position of the work at predetermined time intervals are provided, and a pseudo signal is generated according to the position of the actuator and the work calculated by these means. The cause of the program error can be determined, the program can be easily corrected, and when the corrected program is verified, the state of the actuator and the work immediately before the program error occurs is reproduced, and the work may be lost. The simulation can be continued without any change.

According to the third aspect of the present invention, by setting the operation model of each of the actuator and the work, it is possible to easily calculate the position of the actuator and the work which change every moment based on the output of the sequencer.
By setting detection conditions relating to the operation positions of the actuator and the work of the detector, a pseudo signal to be output to the sequencer can be generated from the calculation results of the position calculation means of the actuator and the work.

According to the fourth aspect of the present invention, since there is provided an abnormality setting means for setting a phenomenon assuming an abnormality of the equipment, the signal output setting should be performed assuming that each part of the equipment operates normally. Therefore, even when performing a simulation assuming various types of abnormalities, it is not necessary to individually perform a series of signal output settings, thereby reducing labor. Since the simulation can be continued by returning to the state before the output of the pseudo signal and canceling the output of the abnormal pseudo signal, the simulation can be performed in accordance with actual on-site work, which is advantageous for the program verification of the sequencer.

According to the invention of claim 5, an operation model of the equipment is set, and a change state of the equipment due to the output of the sequencer is calculated at predetermined time intervals based on the operation model. To generate a pseudo signal and output it to the sequencer, which makes it easy to find the cause of a program error and correct the program, and also to simulate by reproducing the state immediately before the program error occurred. Can be continued, and the time or labor required for program verification can be reduced.

[0037]

Embodiments of the present invention will be described below with reference to the drawings.

In FIG. 1, reference numeral 1 denotes an equipment-side PLC (sequencer) for controlling equipment, and 2 denotes a simulation device. The simulation device 2 includes a simulator-side PLC 4 connected to the equipment-side PLC 1 by a communication line 3, a computer 5 having input means for performing settings for the simulator-side PLC 4 for simulation, and setting and restoring abnormalities in the simulator-side PLC 4 And a switch operation panel 6 for providing a signal for performing the operation described above.

As shown in FIG. 2, the simulator-side PLC 4 simulates a change in the state of the equipment based on an operation command from the equipment-side PLC 1, and calculates the change state of the equipment at predetermined time intervals. And simulating whether or not there is an output change in a detector that detects a change in the state of the equipment based on the change state of the equipment calculated by the state calculation means 7 and setting the state to be output to the equipment-side PLC 1 A pseudo signal generation means 8 for generating a related pseudo signal and an abnormality setting program 9 are provided.

Further, the simulator-side PLC 4 includes an input-side address conversion program 11 for converting an address of an operation command given from the facility-side PLC 1 into an address for the simulator-side PLC 4, and a simulator-side PLC 4.
And an output-side address conversion program 12 for converting the address of the pseudo signal generated in step (1) into the address for the equipment-side PLC 1 so that the input and output addresses of the equipment-side PLC 1 and the simulator-side PLC 4 are unified.

The state calculating means 7 is operated by an operation setting program (operation setting means) 13 for setting an operation model of various actuators constituting the equipment and a work to be worked by these actuators, and an operation command of the equipment-side PLC 1. Change position of each actuator (operation state)
Actuator position calculating means 1 for calculating the value at predetermined time intervals
4 and a work position calculating means 15 for calculating a change position of the work at predetermined time intervals.

The operation setting program 13 includes a PLC
This is for modeling the movement of each of the actuators and the work that are operated based on the operation command from 1 as a coordinate change, for example, a coordinate change on a number line.

Regarding the actuator, the equipment-side PLC
There are various actuators, such as a cylinder in which the piston rod moves from the retreat end to the forward end with an instantaneous output of the operation command from 1, a lifting motor that does not continue to operate unless an operation command is continuously output from the equipment side PLC1. From
Set according to its function or personality. For example, if the rod device moves forward while the forward command is output, and moves backward when the output drops, the operation pattern is symbolized and set, and the forward condition, the backward condition, and the operating range ( The time required to operate from the forward end to the backward end) and other necessary conditions are set.

For the work, for example, if the work moves from the conveyor A having the work stopper to the conveyor B and moves by the conveyor B, the work is present on the conveyor A, and the work stopper is turned off. And when the conveyor B satisfies the three conditions of performing the forward movement, the work is transferred from the conveyor A to the conveyor B and starts moving on the conveyor B.
When the forward command of the conveyor B is output, the workpiece moves forward, when the reverse command is output, the workpiece moves backward, and when both commands are not output, the workpiece is stopped.
Thus, setting of such an operation pattern, setting of conditions, setting of an operation range (time required for the conveyor B to send a workpiece from one end to the other), and the like are performed.

The actuator position calculating means 14 calculates the operation position of each actuator at predetermined time intervals based on the operation model of each actuator set by the operation setting program 13 and writes the calculated operation position in the memory. That is, since the movement of the actuator is modeled as a coordinate change as described above, the equipment-side PLC
The change in coordinates is calculated every predetermined time (for example, every 0.1 seconds) in response to the operation command from 1.

Similarly, the work position calculating means 15 changes the coordinates of the work at predetermined time intervals (for example, 0.
(Every second) and write it to memory.

The pseudo signal generating means 8 includes a detector setting program 16 for setting detection conditions of a detector for detecting the operation positions of the actuator and the work for sequence control, and the actuator setting program provided by the state calculating means 7. And a pseudo signal generation program 17 for generating the pseudo signal based on the information on each of the workpieces and the detection conditions set in the detector setting program 16.
And

The detector setting program 16 will be described. With respect to an actuator detector for detecting an operating end of an actuator (for example, a forward end or a backward end of a piston rod of a cylinder), a detection range is determined based on an operation range of the actuator. Set. For example, if the operating range of the cylinder is 100, 1-5, 95-100
Are set as the detection ranges of the forward end and the backward end for outputting the pseudo signal, respectively.

With respect to the work detector for detecting whether or not the work exists at the predetermined position, the condition that the actuator for moving the work (such as a conveyor) is at the predetermined operation position and the condition that the work is present at the operation position are considered. Related conditions necessary to assume, that is, the actuator,
Set conditions for operation / detection of other actuators or workpieces. For example, if the detector detects that the workpiece has moved forward to a predetermined position (operating position 50 of the conveyor) by the conveyor in the operating range 100, the operating position 50 of the conveyor, the presence of an advance command for the conveyor, and the like are determined. Set as detection conditions.

The pseudo signal generation program 17 is based on the information on the positions of the actuators and the work and the operation commands of the equipment-side PLC 1 given from the state calculation means 7 and the position and operation commands are stored in the detector setting program 16. When the detection condition of the detector set in is satisfied, a pseudo signal (output of the detector) is generated.

The abnormality setting program 9 operates in accordance with an input from the switch operation panel 6, and is operated on the equipment side P.
A command to cancel the operation command from the LC 1 is given to the input-side address conversion program 11, thereby causing a necessary pseudo signal not to be generated, causing an abnormality, and generating a pseudo signal generated by the pseudo signal generation program 17. An abnormality is generated by giving a command to cancel to the output side address conversion program.

Further, the abnormality setting program 9 is provided on the equipment side P
When the operation of the LC 1 is stopped halfway, the calculation programs 1 based on the recovery signal from the switch operation panel 6
An operation command is sent to the state calculating means 7 via the input-side address conversion program 11 so that the position (calculated value) of the actuator or the work at the time of the stop calculated by the steps 4 and 15 is the predetermined position before the stop. give.

In the above example, the switch operation panel 6 is provided separately from the computer 5 for setting and restoring the abnormality. Is also good.

A simulation of the equipment-side PLC 1 using the simulation apparatus 2 will be described with reference to a flow chart shown in FIG.

That is, the simulation is started by setting the signal output, and it is verified whether or not there is an abnormality in the control program of the equipment-side PLC 1 during the normal operation of the equipment (steps A1 to A3). The signal output settings in this case are the setting of the operation model of each of the actuator and the work by the operation setting program 13, the setting of the detector by the detector setting program 16, and the setting of various equipment abnormalities by the abnormality setting program 9.

When the control is stopped due to a program abnormality in the subsequent step A4, the process proceeds to step A5, where the program is corrected and restored. In this case, since the positions of the actuator and the work are calculated at predetermined time intervals by the position calculating means 14 and 15, the state of the actuator and the work when the equipment stops due to a program abnormality can be known. For this reason, it is easy to determine the cause of the program abnormality and correct the program. After the program correction, the actuator and the work are returned to the state (position) before the stop by the switch operation panel 6, and the simulation is continued. Such recovery can be performed because the states of the actuator and the work at the time of the stop are known, and it is not necessary to restart the simulation from the beginning.

In addition, while verifying (simulating) the control program during the normal operation of the equipment, it checks how the control program works when there is an equipment abnormality (power failure, actuator abnormality, etc.). That is, in step A6, it is checked whether or not all the verification items set for the simulation when the equipment is abnormal have been completed.

If the verification is not completed, the process proceeds to step A7, where the set equipment abnormality is generated. When the equipment abnormality is of a nature that causes the equipment to stop operating, and when the control program stops the control at the scheduled step,
This means that there is no program error. In that case, the switch operation panel 6 is used to manually restore the state before the stop.
The simulation is continued by removing the equipment abnormality, and the existence of the program abnormality is checked (step A).
7 to A9). This verifies whether or not the operation of the equipment can be resumed when the operation is interrupted.

When the simulation cannot be continued, it means that there is a program abnormality, and after the program is corrected (step A5), the simulation is continued (step A3). If the simulation can be continued, it is determined that there is no abnormality in the program, and the process proceeds to the next verification (step A9 → A3).

On the other hand, if the control program does not stop the facilities as scheduled in step A7, it means that the program is abnormal. After manual recovery, the program is corrected and the process proceeds to the next verification (step A8 →
A9 → A5 → A3).

In step A7, if the equipment abnormality does not need to stop the equipment, it means that if the equipment does not stop, there is no program error, and if the equipment stops, there is a program error. As in the case, the process proceeds to the next verification, or the program is corrected and the process proceeds to the next verification.

As described above, when the simulation has been completed for all the verification items, the simulation is ended (step A6 → A10).

In the above-described simulation flow, the simulation is started after the abnormality setting by the abnormality setting program 9 is performed in advance. However, the simulation is appropriately stopped during the simulation for verifying the program in the normal operation. Then, the abnormality may be set, and the simulation may be continued to check for the presence or absence of the program abnormality.

[Brief description of the drawings]

FIG. 1 is a diagram showing a hardware configuration of a simulation device according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration of the simulation apparatus.

FIG. 3 is a view showing a flow of a simulation by the simulation apparatus.

FIG. 4 is a block diagram showing a configuration of a conventional simulation device.

FIG. 5 is a diagram showing a flow of a simulation by a conventional simulation device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Equipment side PLC 2 Simulation apparatus 3 Communication line 4 Simulator side PLC 5 Computer 6 Switch operation panel 7 State calculation means 8 Pseudo signal generation means 9 Abnormality setting program 11 Input address conversion program 12 Output address conversion program 13 Operation setting program ( Operation setting means) 14 Actuator position calculating means 15 Work position calculating means 16 Detector setting program 17 Pseudo signal generation program

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Mitsumi Yamamoto 3-1 Shinchi, Fuchu-cho, Aki-gun, Hiroshima Mazda F-term (reference) 5H220 BB10 CC08 CX01 EE07 JJ24 KK08 LL03 LL06 5H223 CC03 DD03 EE05 EE19 FF05

Claims (5)

[Claims] 1. A simulation apparatus for simulating equipment operation by a program of a sequencer, wherein a change in the state of the equipment is simulated based on an output from the sequencer, and a change state of the equipment is calculated at predetermined time intervals. And a pseudo signal generating means for generating a pseudo signal related to the state to be output to the sequencer according to the change state of the equipment calculated by the state calculating means. Simulation device. 2. The simulation apparatus according to claim 1, wherein the state calculation means calculates an change position of an actuator included in the facility by an output of the sequencer at predetermined time intervals, and the actuator. Work position calculating means for calculating a change position of a work that is worked and moving at predetermined time intervals, wherein the pseudo signal generating means includes a pseudo signal according to the position of the actuator and the work calculated by each of the calculating means. A simulation device for generating a simulation result. 3. The simulation apparatus according to claim 2, wherein the state calculation unit sets an operation model of each of the actuator and the work whose position changes with time based on an output of the sequencer. Wherein each of the calculating means calculates a change position of each of the actuator and the work based on the output of the sequencer based on the operation model at predetermined time intervals, and wherein the pseudo-signal generating means operates each of the actuator and the work. A detector setting unit for setting a detection condition of a detector for detecting a position for sequence control, wherein the position of each of the actuator and the work calculated by the calculation unit at predetermined time intervals and the detector setting unit Generating the pseudo signal based on the set detection conditions. Simulation apparatus. 4. The simulation apparatus according to claim 1, further comprising an abnormality setting unit configured to set a phenomenon assuming an abnormality of the facility. 5. A simulation method for simulating a sequencer for controlling equipment, comprising: setting an operation model of the equipment whose state changes over time upon receiving an output from the sequencer, based on the operation model. Calculating a change state of the equipment by an output of the sequencer at predetermined time intervals, generating a pseudo signal in accordance with the change state of the equipment, and outputting the pseudo signal to the sequencer.