JPH06342491A - History data collector - Google Patents

Abstract

PURPOSE:To surely and speedily discriminate abnormality at a controller. CONSTITUTION:The control data of a controller 10' before abnormality generation are written in a memory 14' or a freely attachable and detachable IC card 24 as history data for discriminating the abnormality, and these data are collected when any abnormality is discriminated. Otherwise, the history data are transmitted through a communication line 31 to a service center 30, and abnormality discrimination is performed on the side of the service center 30. The control data at the time point of detecting any abnormality at the controller 10' are written in the prescribed storage area of the memory 14' and each time any abnormality is detected, the page of the memory 14' is updated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for controlling various control objects such as a machining center, a welding robot, an assembling robot, etc., in order to discriminate an abnormality caused by a software defect or the like. To a device for collecting.

[0002]

2. Description of the Related Art Currently, in many factories, FA (factory automation) is composed of various kinds of industrial robots such as machining centers, welding robots, assembly robots, inspection robots, and transfer robots. ) Equipment is installed. In recent years, these industrial robots have an integrated circuit built in a plastic card or the like as an external storage device.
A so-called IC card is often used, and an IC card reader / writer for reading data from the IC card and writing data to the IC card is often provided.

The IC card stores control data such as the shape of the machine, the moving speed constant of the arm, the gain constant, and the program of the job created by the user. The controller of the industrial robot controls the IC card. The robot is driven and controlled according to the data.

A robot controller for controlling an industrial robot is equipped with a microcomputer (CPU), and its operation is controlled based on an operation command based on a robot program.

Therefore, conventionally, when an abnormality such as an error caused by a malfunction of software occurs during the operation of the robot, the cause of the abnormality is clarified by reproducing the operation of the operator when the abnormality occurs. .

However, when an abnormality occurs and the operator forgets the operation, it is often impossible to reproduce the operation. In addition, even if you remember the operation, it will take a considerable amount of time to hear the situation at that time and reproduce the operation, and moreover, you will not be able to obtain accurate data from the operator and the cause of the abnormality will be accurate. Difficult to identify. Therefore, there has been a problem that a great number of man-hours are spent on maintenance. Further, when determining the cause of an abnormality, if a large amount of data is available, the cause can be easily investigated, but only a small amount of data is often obtained. Therefore, if the control data up to the occurrence of the abnormality can be reliably collected, the cause of the abnormality can be quickly and surely investigated. Moreover, if the data is collected using the detachable external storage device that is already mounted on the industrial robot, the data collection process can be performed easily and quickly.

The present invention has been made in view of these circumstances, and the control data up to the time of occurrence of an abnormality is written as history data in a removable storage medium and is collected, so that the abnormality can be reliably determined. The first purpose is to carry out quickly and easily.

In addition, the site where the abnormality occurs is often geographically separated from the analysis place where the acquired data is analyzed to determine the abnormality.

The present invention has been made in view of these circumstances, and stores control data until an abnormality occurs in a predetermined memory, and analyzes the data with a control device side having a memory storing the control data. A second object is to surely and quickly determine an abnormality by connecting the analyzing device side to be performed with a communication line and transmitting control data to the analyzing device side by communication.

When analyzing the control data, what is important is the control data at the time of occurrence of the abnormality. Therefore, it is necessary to accurately extract the control data at the time of occurrence of the abnormality in order to accurately perform the abnormality determination.

The present invention has been made in view of such an actual situation, and the control data at the time when the abnormality of the control device is detected is written in a predetermined storage area of the memory to accurately and quickly determine the abnormality. The third purpose is to do so.

Further, it is desirable to investigate the cause of the abnormality in the control device not only based on the data at the time when the abnormality occurs once but also based on the data of many times in order to ensure the accuracy of the abnormality determination.

The present invention has been made in view of the above circumstances, and a memory for storing control data has a plurality of pages, and each time an abnormality is detected in the control device, the data at that time is written to each page, and A fourth object is to accurately and speedily determine abnormality based on a large amount of data by updating the page.

As described above, the present invention has a common configuration in which history data up to the occurrence of an abnormality is temporarily stored, and the history data is collected and analyzed, whereby it is common to perform the abnormality determination reliably and quickly. It is intended.

[0015]

Therefore, in the main invention of the first invention of the present invention, an abnormality is detected in the control device for controlling the controlled object according to the control data, and the control data up to the time of occurrence of the abnormality is detected. In a history data collection device that collects history data, the history data is written to a removable storage medium, the storage medium in which the history data is written is collected, and the storage history data of the collected storage medium is analyzed. Thus, the abnormality of the control device is determined.

Further, in the second aspect of the present invention, a history data collecting device for detecting an abnormality in the control device for controlling the controlled object according to the control data and collecting the control data until the occurrence of the abnormality as history data. In the above, the control device includes a memory for storing the history data, and the control device further includes an analysis device outside the control device for determining an abnormality of the control device by analyzing the history data. By the communication line with the analysis device,
The history data is freely connected from the control device to the analysis device, and when the history data is instructed to be transmitted to the analysis device, the history data is controlled via the communication line. The data is transmitted from the memory of the device to the analysis device.

In the main invention of the third aspect of the present invention, a history of detecting an abnormality in the control device for controlling the controlled object according to the control data and collecting the control data up to the occurrence of the abnormality as history data. The data collecting device includes a memory for storing the history data, and the control data at the time when the abnormality of the control device is detected is written in a predetermined storage area of the memory.

Further, in the fourth aspect of the present invention, a history data collection device for detecting an abnormality in a control device for controlling a controlled object according to control data and collecting the control data until the occurrence of the abnormality as history data. In the above, a memory for storing the history data is provided, and the memory is configured to have a predetermined plurality of pages, and each time the control device detects an abnormality, the abnormality is detected in a predetermined storage area of the page. The control data at that time is written and the page is updated so that the history data is sequentially written to each page of the memory.

[0019]

According to the structure of the first invention, the history data is
It is written in a removable storage medium, and data necessary for abnormality determination is surely acquired. Then, the storage medium in which the history data is written is removed and collected, and the data collection is performed easily and quickly. Then, the storage history data of the collected storage medium is analyzed, and the abnormality determination is accurately performed.

Further, according to the configuration of the above-mentioned second invention, the history data is stored in the memory of the control device, and the data necessary for the abnormality determination can be surely acquired. Then, the analysis device, which is outside the control device, analyzes the history data and performs abnormality determination, and the control device are connected by a communication line, and the history data is transmitted from the memory of the control device to the analysis device via the communication line. By doing so, the data can be quickly sent to a distant place, and the abnormality determination can be quickly performed.

Further, according to the third aspect of the invention, the history data is stored in the memory, the data necessary for the abnormality determination is surely acquired, and the control data at the time of the abnormality detection is stored in the predetermined storage area of the memory. Since the data is written, the abnormality determination can be accurately performed by reading the data in the predetermined storage area.

Further, according to the configuration of the above-mentioned fourth invention, the history data is stored in the memory, and the data necessary for the abnormality determination can be surely acquired. Then, the memory has a multi-page configuration, and each time an abnormality is detected, the control data at the time of the abnormality detection is written to the predetermined storage area of each page, and the page is updated. A plurality of necessary data are acquired, and abnormality determination is accurately performed based on these data.

[0023]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a history data collecting device according to the present invention will be described below with reference to the drawings.

First Embodiment FIG. 1 is a block diagram showing the configuration of the device of the first embodiment. In the first embodiment, the controller 10 that controls a predetermined industrial robot 20 used as an FA device.
It is assumed that the abnormality in is determined.

In FIG. 1, the controller 10 of the robot 20 is mainly composed of a CPU (microprocessor) 11 which performs arithmetic control, and a bus line 12
The ROM 13 and the RAM 14 are connected to the CPU 11 via the.

The ROM 13 is a memory for storing programs of the CPU 11, and stores programs for exchanging data with an IC card reader / writer 23 described later, programs for executing various tasks, fixed data and the like. , Stored.

That is, the CPU 11 monitors various control data based on the program stored in the ROM 13 to detect an abnormality, for example, a software error or a malfunction of the robot 20. The detection of such an abnormality is performed by the abnormality detection unit 11a of the CPU 11.

The RAM 14 is a working memory in which data detected by various sensors 22 of the robot 20 and programs stored in the IC card 24 are written.

Further, the CPU 11 has a bus line 12
An input / output interface (I / O interface) 16 is connected via the I / O interface 12, and a driver (not shown) of an actuator 21 such as a step motor of the robot 20 or a cylinder is connected to the I / O interface 12. Various sensors 22 of the robot 20 are connected.

The bus line 12 has an interface 1
An IC card 2 which is a storage medium that can be freely attached and detached via 9
4 is connected to an IC card reader / writer 23 that writes and reads data. A keyboard 25 for inputting data is connected to the bus line 12 via the interface 15, and a CP
A CRT controller (CRTC) 17 that controls a CRT display 26 that displays the calculation result of U11, the detection result of the sensor 22, and the like is connected. Further, a printer 27 that outputs a hard copy is connected to the bus line 12 via an interface 18.

The history data is collected in the controller 10 having such a structure according to the flow chart shown in FIG.

That is, as an operator, first, when no abnormality occurs in the controller 10 (robot 20), a normal operation, that is, a key operation of the keyboard 25 or the like is performed. At this time, the CPU 11 uses the ROM
Read the program stored in 13 or I
IC card 2 loaded in C card reader / writer 23
4 stores the programs of the jobs stored in the RAM 14
And write to the robot 20 according to these programs.
The actuator 21 and the like are driven and controlled (step 101).

Here, in the detection section 11a of the CPU 11,
The controller 10 constantly detects an abnormality in the controller 10 (step 102). If the controller 10 detects any abnormality such as a software error (YES in step 102), the CPU 11 causes the CRT display 26 to display a screen image. When a message indicating that “the abnormality has occurred” is displayed on the screen and it is detected that the IC card 24 is not attached to the IC card reader / writer 23, “IC card for collecting historical data” is displayed on the screen. 24 should be set in the IC card reader / writer 23. ”is displayed. As a result, the operator recognizes that the IC card 23 is not yet mounted, loads the IC card 24 into the IC card reader / writer 23 (step 103), and operates the switch (not shown) or the key operation of the keyboard 25 to A "write mode" for starting the process of writing control data to the IC card 24 is selected (step 10).
4).

When the writing mode is selected in this way, when the operator thereafter executes a normal operation similar to step 101 described above (step 105), the CPU
11 performs the same normal control as in step 101 described above, reads the control program for writing control data from the ROM 13 to the IC card reader / writer 23, and executes it after selecting the write mode according to this control program. The control data indicating the progress of the control contents and various control states (the driving state of the actuator 21, the detection signal state of the sensor 24, etc.) are sequentially transferred to the IC card reader / writer 23, and the IC card reader / writer 23 is transferred. The transferred control data by the IC
Processing for sequentially writing to the card 24 is performed (step 106).

Then, in the same manner as in step 102, when an abnormality is detected again (step 107), a message to that effect is displayed on the screen of the display 26, and the operator recognizes this, and the IC card 24 is read by the IC card reader.・ Writer 2
Remove from 3 and collect. Here, the control data of the controller 10 from the first occurrence of abnormality to the next occurrence of abnormality is reliably stored in the IC card 24 as history data. Therefore, if the storage history data of the IC card 24 is analyzed by a predetermined data analysis device, the abnormality of the controller 10 (robot 20) can be determined easily and quickly without difficulty. The history data is also stored in the RAM 14 (step 109).

As described above, in the first embodiment, when an abnormality occurs in the controller 10, the control data indicating the progress and the occurrence state of the abnormality is surely stored in the IC card 24 as history data. Since the IC card 24 is collected and analyzed for data, even an operator who has little knowledge of software can obtain a large amount of high-level information on the occurrence of an abnormality and cause the occurrence of the abnormality. Can be easily and quickly investigated. Therefore, in the past, usually, a debug device was prepared and data that could not be obtained unless connected to the device in which the abnormality occurred, or data when a low-frequency abnormality that does not know when it occurred, It can be easily obtained, and the efficiency of investigating the cause of an abnormality is dramatically improved.

Although the IC card 24 is used as the removable storage medium in the first embodiment, a magnetic tape, a floppy disk, an optical disk or the like may be used instead. .

Further, as another embodiment of the first embodiment, it is conceivable to send the history data by communication to an analysis place for data analysis.

That is, as shown in FIG. 1, a communication line 31 is connected to the interface 19, and the communication line 31 connects the controller 10 via a host CPU 28 which is a host computer and a modem 29 which modulates a transmission signal. And the service center 30 are communicatively connected to each other.

At the time when the above-mentioned abnormality occurs (step 107), a signal indicating the abnormality is sent to the communication line 31.
Is transmitted to the host CPU 28 via. Host CPU
In response to this, the control data 28 indicates the progress of the control contents and various control states (the driving state of the actuator 21, the state of the detection signal of the sensor 24, etc.), or the IC card 2.
A signal to that effect is sent to the controller 10 so that the history data stored in 4 is transmitted to the service center 30 via the communication line 31. Controller 1 accordingly
0 transmits history data to the service center 30 via the communication line 31, and the transmitted data is analyzed by a predetermined data analysis computer to determine the abnormality of the controller 10. As described above, by transmitting the history data directly to the place where data analysis is performed by communication, the data analysis process can be performed more quickly.

The host CPU 28 may be omitted in FIG.

Second Embodiment Next, the structure of a memory for storing history data will be described. FIG. 2 shows the structure of an apparatus applied to this second embodiment, and the reference numerals in FIG. 1 with a dash are assumed to have substantially the same functions as those in FIG. .

That is, the robot controller 10 '
Is composed of an input unit 24 ', a program memory 13', a data memory 14 ', a control unit 11', and a detection unit 11'a. A robot 20 'is connected to the robot controller 10'.

The input section 24 'is an input means for inputting data for operating the robot 20', and is a keyboard (for example, a teaching box) for inputting data by key operation.

The detection unit 11'a detects an abnormality such as an error when the robot 20 'is operated and notifies the control unit 11' of the abnormality. The detection unit 11'a may be installed on the robot 20 'side.

The program memory 13 'is used by the robot 20.
A robot program for operating ‘′, other control programs, and the like are stored.

The data memory 14 'has a robot 20'.
Control data such as command position data, current position data, I / O data, and the like are stored. Here, the control data up to the time of occurrence of an abnormality is stored as history data in the data memory 14 '. If necessary, these history data may be stored in the IC card 24 which is an external storage device as in the first embodiment described above, or may be printed out by a printer similar to the printer 27 of FIG. You may

Further, similarly to the above-mentioned first embodiment,
The history data may be transmitted to the service center 30 by connecting to the service center 30 via the communication line 31.

The control unit 11 'controls the operation of the robot 20' based on the operation command of the robot program, and uses the control data up to the point of occurrence of the abnormality detected by the detection unit 11'a as history data in the data memory. 14 'stores and saves. This control unit 11 'is C
It can be configured by a circuit having PU as a main component.

Here, referring to FIG. 3, the data memory 1
The configuration of 4'is described.

The storage area of the memory 14 'is 1 to N.
The page is composed of pages. The control data to be stored is classified into page update data to be stored at the time of updating the page to a new page, and operation data and change data other than the page update data.

For example, if the memory 14 'has a structure of 10 pages (N = 10), 9 pages of the memory 14' are for data storage, and the remaining 1 page is a working page currently used.

Page update data, operation data, and change data are sorted and stored in different storage areas for each page.

The page update data is control data that is particularly necessary for determining an abnormality among all control data when an abnormality occurs or when a page update operation described later is performed. It is composed of control data such as position (orientation) and input / output (I / O).

The operation data is control data indicating a keyboard input operation in the input section 24 ', and each page has an address of 1 to L (for example, 200). Each time a key operation is performed, the operation data is sequentially written from address 1 to each address, and after reaching address L (= 200), the operation data is returned to address 1 again to cyclically write. I'm going to do it. In this way, the old data is erased after the data is written to all the addresses.
This is because if all the key operations until the abnormality occurs are stored, the memory capacity becomes huge. The operation data is stored as the history data because the history of the operation by the operator is useful information in the abnormality determination.

On the other hand, the change data is data indicating a change in the step of processing on the program, and is control data taken in when the program calls a job or when the job is started or stopped. , Obtained periodically.

For example, as shown in FIG. 7, assuming that the operation mode is switched to and started from step 1 of JOB1, the program runs as shown by the arrow indicated by the broken line, so that the contents are stored in the changed data area. "Run → Start →
JOB1 → STEP1 → JCALL: JOB5 → JRE
TURN: JOB1 → JUMP: STEP6 → Stop: S
It is stored as “TEP8”. In addition, the above "driving",
The “start” is captured in duplicate with the operation data.

Like the operation data, the change data also has a predetermined number of addresses 1 to M (for example, 300) for each page, and the change data is periodically written from address 1 to each address. Address M
After reaching (= 300), writing is cyclically performed by returning to the address 1 again. The old data is erased in this way because, like all the operation data, if all the periodic data is stored, the memory capacity becomes huge. The reason why the changed data is stored as history data is that the history of what route the program was operating in becomes useful information when determining an abnormality.

The page update data is the above operation data,
Unlike the change data, the data is not stored unconditionally every time, but is stored only once for each page when an abnormality occurs or when a page update command is input.

Here, the page update process will be described.

There are the following two types of page updating methods.

First, the first method is a method of updating when an abnormality is detected by the detecting section 11'a.

That is, when an abnormality is detected by the detection unit 11'a, the page update data (error information, robot position data, etc.) at the time of the detection is fetched accordingly, and this is stored in the page as saved data. Is stored in a predetermined storage area. If the "page storage reason" indicating the content of the abnormality detection (for example, the message number corresponding to the error information) is stored in the same storage area in association with the stored data, in the later data analysis, It is convenient.

On the other hand, operation data and change data up to the time of abnormality detection are also stored in another storage area of the same page.
Then, the page is automatically updated to the next page.

As described above, each time an abnormality occurs, the history up to the point of occurrence is sequentially stored in each page. Then, after the history data is stored in all N pages, the data writing is performed cyclically by returning to the first page again. As described above, the reason why the N page structure is adopted and the old data is erased when the number of pages exceeds N pages is that the memory capacity becomes huge if all the history data is stored.

The second method for updating the page is a method in which the operator selects the "data storage mode" by key operation and gives an instruction for updating the page.

When a page update operation is performed and the data save mode is entered in response to this operation, even when no abnormality has occurred, the page update operation is forcibly performed in the same manner as in the first method. The data is stored in the current page and the page is updated to the next page.

As described above, the reason why the page update data is stored even when an abnormality has occurred is in consideration of the fact that the operator may want to keep useful data at his discretion. Further, if a heading comment indicating "page storage reason" is also stored in the storage area of the page update data in association with the stored data, it is convenient for later data analysis. In addition,
The data stored by the second method is data of the robot position, input / output, etc. excluding error information in the page update data stored by the first method.

Next, the processing for storing and saving the history data will be described with reference to the flowchart of FIG.

First, when the system is started, the data memory 1
The page setting for the first page of 4'is performed (step 20
1) Then, it is judged whether or not the change data is changed (step 202).

When there is a change, new change data is written in the change data area and the content of the change address B is set to B + 1 (step 203). And B> L
(Total number of addresses) is determined (step 20
4), when B> L, B = 1. As a result, the next change data is stored in the first address 1 (step 205).

Next, it is judged whether or not the operation data has been changed (step 206). When there is a change, new operation data is written in the operation data area, and the content of the operation address C is set to C + 1 (step 20).
7). Then, it is determined whether or not C> M (total number of addresses) (step 208), and when C> M, C = 1 is set (step 209). Next, it is determined whether or not there is a change in the page update data (step 210).
If neither an abnormality has been detected nor a page update operation has been performed, the process returns to step 202. However, if an abnormality is detected,
When a page update operation is performed, the error information at that point, robot position, page update data such as input / output,
The data is stored in the data area at the time of page update, and the page is updated by +1 to return to step 202 (step 211).

All history data is stored in IC which is an external storage device.
It is transferred to and stored in the card 24. As a result, the IC card 24 plays a role of backing up the stored contents of the memory 14 ', and the IC card 24 is removable and easy to collect, so that the data based on the history data stored in the IC card 24 is used. Analysis can be performed easily and quickly.

Here, among the history data, the page update data which is particularly important for abnormality determination is
Since it is stored in a predetermined storage area that is clearly distinguished from other operation data and change data, the page update data can be easily retrieved, and the analysis can be performed easily and quickly.

If the data analysis is performed based on the fault diagnosis inference system (expert system), the cause of the abnormality can be easily clarified even by a person without specialized knowledge. You can

Next, the history data is stored in the controller 10
The process of transmitting the data to the service center 30 separated from ‘and performing the data analysis will be described with reference to FIG. 6.

As shown in FIG. 6, as long as the page update data is not updated, the normal operation is performed as in step 101 of FIG. 4 (step 301).
It is constantly judged whether or not a command for data transfer is inputted from the host CPU 28 through the signal line 31 (step 302). As a result, when the command for instructing the data transfer is not input, it is determined whether an abnormality is detected or a page update operation is performed, as in step 210 of FIG. 5 (step 303).

If either an abnormality is detected or the page is updated, step 2 in FIG.
Similar to 11, the page update data at the time of the abnormality detection or the page update operation is stored and the page is updated (step 304).

When the data transfer is instructed (YES at step 302), the controller 10 'transmits all the history data stored in the memory 14' to the service center 30 via the communication line 31 (step S30). Thirty
5). As a result, the service center 30 can immediately collect the history data, and can quickly analyze the data for the abnormality determination (step 306).

[0080]

As described above, according to the present invention,
Since the control data until the occurrence of the abnormality is written as history data in the removable storage medium and is collected, the abnormality can be discriminated reliably, quickly, and easily.

Further, the control data until the occurrence of the abnormality is stored in a predetermined memory, and the control device side having a memory storing the control data and the analysis device side for analyzing the data are connected by a communication line, Since the control data is transmitted to the analysis device side by communication, it is possible to reliably and quickly determine the abnormality.

Further, since the control data at the time when the abnormality of the control device is detected is written in the predetermined storage area of the memory, the abnormality can be discriminated accurately and quickly.

Further, since the memory for storing the control data has a plurality of pages, and the data at that time is written into each page and the page is updated whenever an abnormality is detected in the control device, the abnormality is generated. Can be accurately and quickly determined based on a large amount of data.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of an embodiment of a history data collection device according to the present invention.

FIG. 2 is a block diagram showing the configuration of another embodiment of the history data collection device according to the present invention.

3 is a diagram conceptually showing the structure of the memory shown in FIG.

FIG. 4 is a flowchart showing a processing procedure in the embodiment shown in FIG.

5 is a flowchart showing a processing procedure in the embodiment shown in FIG.

FIG. 6 is a flowchart showing a processing procedure in the embodiment shown in FIG.

FIG. 7 is a diagram used for explaining changed data in the embodiment of FIG.

[Explanation of symbols]

 10 Controller 11 CPU 11a Detection Unit 14 RAM 20 Robot 23 IC Card 30 Service Center 31 Communication Line

Claims (13)

[Claims] 1. A history data collection device that detects an abnormality in a control device that controls a controlled object according to control data, and collects the control data until the occurrence of the abnormality as history data. A history data collecting device for writing an arbitrary storage medium, collecting the storage medium having the history data written therein, and analyzing the stored history data of the collected storage medium to determine an abnormality of the control device. . 2. When an abnormality occurs, the apparatus further comprises display means for displaying the abnormality and instruction means for instructing the writing of history data to the storage medium, and based on the abnormality display displayed on the display means. 2. The history data writing is instructed by the instructing means, the history data writing to the storage medium is started in response to the instruction, and the history data is written to the storage medium until the next abnormality occurs. Historical data collection device. 3. The history data collection device according to claim 1, wherein the storage medium is an IC card. 4. A history data collection device that detects an abnormality in a control device that controls a control target according to control data, and collects the control data until the occurrence of the abnormality as history data, wherein the control device includes the history data. Along with a memory for storing data, the control device is provided with an analysis device outside the control device for determining an abnormality of the control device by analyzing the history data, and the control device and the analysis device are connected by a communication line. The history data is freely connected from the control device to the analysis device, and when the history data is instructed to be transmitted to the analysis device, the history data is transmitted via the communication line. A history data collection device configured to transmit from a memory of a control device to the analysis device. 5. A history data collection device that detects an abnormality in a control device that controls a controlled object according to control data and collects the control data until the occurrence of the abnormality as history data, wherein the history data is stored. A memory is provided, and the control data at the time when the abnormality of the control device is detected,
A history data collecting device adapted to write in a predetermined storage area of the memory. 6. The history data is classified into first data for abnormal writing and second data other than that, and the second data is written in an area outside the predetermined storage area of the memory. At the same time, the first data is written in the predetermined storage area of the memory.
The described historical data collection device. 7. The storage area in which the second data is written comprises a predetermined number of addresses, and when the second data is written in all the addresses, the next second data is written.
7. The history data collecting device according to claim 6, wherein the writing of the data is performed again from the first address. 8. A history data collection device that detects an abnormality in a control device that controls a controlled object according to control data and collects the control data until the occurrence of the abnormality as history data, and stores the history data. A memory is provided, and the memory has a predetermined plurality of pages, and each time an abnormality is detected in the control device, the control data at the time when the abnormality is detected is written in a predetermined storage area of the page. At the same time, the history data collecting apparatus is configured to update the page and sequentially write the history data to each page of the memory. 9. The history data is classified into first data for abnormal writing and second data other than the abnormal writing, and the second data is stored outside the predetermined storage area of each page of the memory. 9. The history data collecting apparatus according to claim 8, wherein the first data is written in the area and at the same time, the first data is written in the predetermined storage area of each page of the memory. 10. The storage area for each page in which the second data is written comprises a predetermined number of addresses, and when the second data is written in all the addresses, the next second data is written. 10. The history data collecting device according to claim 9, wherein the writing is performed again from the first address. 11. The history data collection according to claim 8, wherein when the first data is written in all of the plurality of pages, the writing of the next first data is performed again from the first page. apparatus. 12. The apparatus further comprises an instruction means for instructing an update of a page in which the history data is written, and when the instruction of the page is instructed by the instruction means, the instruction is forcibly performed regardless of occurrence of an abnormality in the control device. 9. The history data collecting apparatus according to claim 8, wherein the control data at the time of the page update instruction is written and the page is updated. 13. A removable storage medium is provided in addition to the memory, and the history data is written in the storage medium,
The history data collection device according to claim 5, wherein the storage medium in which the history data is written is collected, and the storage history data of the collected storage medium is analyzed to determine an abnormality of the control device.