CONTROL DEVICE, CONTROL METHOD, AND CONTROL PROGRAM

To provide a control device that controls a canceling operation for automatically eliminating a cause of an operation failure caused in a work automated conveying machine.SOLUTION: A control device includes: an information acquisition unit that acquires failure operation information indicating an operation failure of a grip portion; an eliminating operation control unit that, when acquiring the failure operation information, controls an eliminating operation including a first operation for switching the grip portion performing a clamping operation to an unclamping operation, and causing the unclamping operation to be performed, or a second operation for switching the grip portion performing the unclamping operation to the clamping operation, and causing the clamping operation to be performed; and a retry control unit that, after performing the canceling operation, controls a retrying operation for re-clamping the grip portion that has performed the first operation or for re-unclamping the grip portion that has performed the second operation.SELECTED DRAWING: Figure 8 【課題】ワーク自動搬送機に生じた動作不良の原因を自動的に解消する解消動作を制御する制御装置を提供すること。【解決手段】制御装置は、把持部の動作不良を表す不良動作情報を取得する情報取得部と、不良動作情報を取得した場合、クランプ動作中の把持部をアンクランプ動作に切り替えて動作させる第一動作、又は、アンクランプ動作中の把持部をクランプ動作に切り替えて動作させる第二動作を含む解消動作を制御する解消動作制御部と、解消動作を行った後、第一動作を行った把持部を再度クランプ動作させる、又は、第二動作を行った把持部を再度アンクランプ動作させるリトライ動作を制御するリトライ制御部と、を備える。【選択図】図８