Setting supported devices

Abstract

A setting support device supports setting of a plurality of control parameters of a motor control device, the motor control device controlling the motor using information from an encoder installed on a motor driving a load machine, the setting support device comprising: a determination unit determining a responsiveness index value for each of a plurality of states in which the value of a first control parameter among the plurality of control parameters is different from each other, the responsiveness index value indicating the responsiveness of the load machine when the motor control device controls the motor in the state; and a prompting unit prompting a user with the responsiveness index value for each of the plurality of states determined by the determination unit. By means of the structure of the setting support device, the user can set the control parameters of the motor control device in a form that takes the responsiveness of the load machine into consideration.

Description

Technical Field

[0001] The present invention relates to a setting support device for supporting setting of control parameters of a motor control device. Background Art

[0002] A motor control device for controlling a motor generally has a plurality of control parameters. Also, the appropriate values ​​of other control parameters may change depending on the value of a certain control parameter, and therefore various technologies have been developed to support the setting of a plurality of control parameters for a motor control device (see, for example, Patent Document 1).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2017-167607 Summary of the invention

[0006] Problems to be solved by the invention

[0007] As described above, various technologies have been developed to support the setting of multiple control parameters for motor control devices. However, existing technologies basically provide users with appropriate values ​​of each control parameter based on the output of an encoder installed on the motor, that is, each control parameter is set (adjusted) only by focusing on the response of the motor shaft.

[0008] Furthermore, since the behavior of a motor is not necessarily consistent with the behavior of a load machine driven by the motor, if the control parameters of a motor control device are set (adjusted) using conventional techniques, the overshoot or stabilization time of the motor shaft will be within an allowable range, but the overshoot or stabilization time of the load machine may sometimes be outside the allowable range.

[0009] The present invention has been made in view of the above-mentioned current situation, and an object of the present invention is to provide a setting support device that allows a user to set control parameters for a motor control device in a form that takes into account the responsiveness of a load machine.

[0010] Technical means of solving problems

[0011] A setting support device according to one aspect of the present invention supports setting of multiple control parameters of a motor control device, wherein the motor control device uses information from an encoder installed on a motor that drives a load machine to control the motor, and the setting support device includes: a determination unit that determines a responsiveness index value for each of a plurality of states in which the value of a first control parameter among the plurality of control parameters is different from each other, the responsiveness index value indicating the responsiveness of the load machine when the motor control device controls the motor in the state; and a prompting unit that prompts a user with the responsiveness index value for each of the plurality of states determined by the determination unit.

[0012] That is, the setting support device according to one aspect of the present invention can present a responsiveness index value indicating the responsiveness of the load machine to the user. Therefore, according to the setting support device, the user can set the control parameters of the motor control device in a form taking the responsiveness of the load machine into consideration.

[0013] The determination unit of the setting support device may determine the responsiveness index value for each of the plurality of states by simulation based on a model, the model approximating a mechanical system including the load machine. Furthermore, the model in the setting support device may be a multi-inertia model that considers at least the inertia of the motor and the inertia of the load machine.

[0014] The setting support device may also include a "model making unit that measures the frequency response characteristics of the system and makes the model based on the measurement results, wherein the system takes as input a command to the motor and takes as output a detection result of any one of the position, velocity, and acceleration of the load machine by a sensor installed on the load machine". The model making unit may also determine the anti-resonance frequency, the resonant frequency, the gain at the anti-resonance frequency, the gain at the resonant frequency, and the gain at a frequency lower than the anti-resonance frequency based on the measured frequency response characteristics, and make the model based on the determination results.

[0015] Furthermore, the determination unit may also collect outputs of sensors installed on the load machine when the motor control device controls the motor in each of the multiple states, and determine the responsiveness index value based on the collected outputs. The setting support device may also have the following structure, namely: "The determination unit also determines a motor-side responsiveness index value for each of the multiple states, the motor-side responsiveness index value indicating the responsiveness of the motor shaft of the motor when the motor control device controls the motor in the state, and the responsiveness index value determined by the determination unit for each state is presented to the user together with the motor-side responsiveness index value determined by the determination unit for each state".

[0016] The determination unit of the setting support device may determine the motor-side responsiveness index value based on the information from the encoder, or may determine the motor-side responsiveness index value through simulation.

[0017] The responsiveness index value in the setting support device may also be information that represents the responsiveness of the load machine in units in the coordinate system of the load machine. The setting support device may also have the following structure, namely: "The determination unit determines a first responsiveness index value representing a first responsiveness of the load machine and a second responsiveness index value representing a second responsiveness of the load machine as the responsiveness index value for each of the plurality of states, and the prompting unit prompts the user with the second responsiveness index value for each state in which the first responsiveness index value is within an allowable range in a form that allows the user to understand each state in which the first responsiveness index value is not within the allowable range."

[0018] For the setting support device, the following structure may also be adopted, namely: "The determination unit further determines a motor side responsiveness index value for each of the multiple states, and the motor side responsiveness index value indicates the responsiveness of the motor shaft of the motor when the motor control device controls the motor in the state, and the prompt unit prompts the user with a value indicating worse responsiveness between the responsiveness index value and the motor side responsiveness index value for each of the multiple states."

[0019] Furthermore, for the setting support device, the following structure may also be adopted, namely: "The determination unit determines the responsiveness index value for each of the multiple states in which the combination of the value of the first control parameter and the value of the second control parameter among the multiple control parameters is different from each other, and the prompt unit prompts the user with the responsiveness index value for each of the multiple states by displaying a contour map, and the contour map sets the value of the first control parameter and the value of the second control parameter as one of the vertical axis and the other of the horizontal axis, and represents the responsiveness index value by color or brightness."

[0020] Effects of the Invention

[0021] According to the present invention, a user can set control parameters for a motor control device in a format that takes into account the responsiveness of a load machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is an explanatory diagram of a usage form of the setting support device according to the first embodiment of the present invention.

[0023] Figure 2 This is a functional block diagram related to a motor control processing function of a control unit in a motor control device in which a setting support device supports setting of control parameters.

[0024] Figure 3 It is a schematic configuration diagram of the setting support device according to the first embodiment.

[0025] Figure 4 This is an explanatory diagram of the frequency response characteristics measured by the model making department during model making.

[0026] Figure 5 This is an illustration of a model made by the Model Making Department.

[0027] Figure 6 This is an explanatory diagram showing an example of the measurement results of the frequency response characteristics by the model making department.

[0028] Fig. 7A This is a frequency-gain characteristic diagram showing the relationship between a value obtained by simulation using a model created by a model creation unit and an actually measured value.

[0029] Figure 7B This is a frequency-phase characteristic diagram showing the relationship between a value obtained by simulation using a model created by a model creation unit and an actually measured value.

[0030] Figure 8 This is an explanatory diagram of the coordinate system conversion function of the responsiveness index value calculation unit.

[0031] Fig. 9 This is a diagram for explaining an example of the display of the evaluation results by the display control unit.

[0032] Fig.10 This is a diagram for explaining an example of the display of the evaluation results by the display control unit.

[0033] Fig.11 This is a diagram for explaining an example of the display of the evaluation results by the display control unit.

[0034] Fig.12 This is a diagram for explaining an example of the display of the evaluation results by the display control unit.

[0035] Fig.13 It is a schematic configuration diagram of a setting support device according to a second embodiment of the present invention.

[0036] Fig.14 It is a diagram for explaining the function of the model creation unit included in the setting support device according to the second embodiment.

[0037] Fig.15 It is a schematic configuration diagram of a setting support device according to a third embodiment of the present invention.

[0038] [Explanation of Symbols]

[0039] 10, 10b, 10c: Setting support devices

[0040] 11: Input device

[0041] 12: Body part

[0042] 13: Display device

[0043] 16, 16b: Model making department

[0044] 17, 17c: Responsiveness index value calculation unit

[0045] 18: Display control unit

[0046] 20: Motor control device

[0047] 21: Non-volatile memory

[0048] 22: Motor drive circuit

[0049] 23: Control Department

[0050] 31: Position command filter

[0051] 33: Position controller

[0052] 35: Speed ​​Controller

[0053] 36: Current controller

[0054] 37: Speed ​​detector

[0055] 41: Motor

[0056] 42: Load machinery

[0057] 43: Encoder

[0058] 44: Sensor DETAILED DESCRIPTION

[0059] Hereinafter, embodiments of the present invention will be described based on the drawings.

[0060] <<First Implementation Method>>

[0061] Figure 1 The following describes a usage mode of the setting support device 10 according to the first embodiment of the present invention.

[0062] The setting support device 10 of the present embodiment is a device for supporting the setting of various control parameters of the motor control device 20 that controls the motor 41 .

[0063] Before describing the details of the setting support device 10, the structure and function of the motor control device 20 will be described. Figure 1 As shown, the motor control device 20 includes a nonvolatile memory 21 , a motor drive circuit 22 , and a control unit 23 .

[0064] The motor drive circuit 22 is a circuit that supplies a drive current to the motor 41 under the control of the control unit 23. The control unit 23 is a unit that includes a processor such as a microcontroller and a central processing unit (CPU) and its peripheral components. The main processing performed by the control unit 23 is a motor control processing that controls the motor 41 (motor drive circuit 22) according to instructions input from an external device such as a programmable logic controller (PLC). In addition, the control unit 23 is configured (programmed) to be able to perform other processing.

[0065] The nonvolatile memory 21 is a rewritable nonvolatile memory such as an Electrically Erasable and Programmable Read Only Memory (EEPROM), etc. Various control parameter values ​​(position proportional gain, speed proportional gain, model gain, etc.) set by the user are stored in the nonvolatile memory 21.

[0066] Figure 2 The following is a functional block diagram showing the motor control processing function of the control unit 23. As shown in the figure, the control unit 23 is configured (programmed) to function as a position command filter 31, a position controller 33, a speed controller 35, a current controller 36, and a speed detector 37.

[0067] The position command filter 31 is a digital filter for filtering the position command. The position controller 33 is a functional block that generates a speed command corresponding to the deviation between the position command filtered by the position command filter 31 and the position of the motor 41 (the position of the motor shaft) detected by the encoder 43 installed on the motor 41. The speed detector 37 is a functional block that detects the speed of the motor 41 by differentiating the position of the motor 41 detected by the encoder 43. The speed controller 35 is a functional block that generates a current command corresponding to the deviation between the speed command generated by the position controller 33 and the speed detected by the speed detector 37. The current controller 36 is a functional block that generates a control signal (a pulse width modulation (PWM) signal in this embodiment) for supplying a current according to the current command from the speed controller 35 to the motor 41 and supplies it to the motor drive circuit 22.

[0068] The control parameter values ​​on the nonvolatile memory 21 are values ​​used to specify the specific action content of each functional block (position controller 33, etc.). The control unit 23 determines the content of the processing actually performed by the position controller 33, etc. based on the control parameter values ​​stored in the nonvolatile memory 21.

[0069] Hereinafter, the configuration and function of the setting support device 10 will be described in detail. In the following description, a portion including the motor control device 20, the motor 41, the load machine 42, etc. is referred to as a motor control system.

[0070] As described above, the motor control device 20, in which the setting support device 10 supports the setting of control parameters, is a device that performs feedback control on the motor 41 based on information from the encoder 43. The setting support device 10 adopts the following structure in order to be able to set (adjust) various control parameter values ​​of such a motor control device 20 in consideration of the responsiveness of the load machine 42.

[0071] like Figure 1 As shown, the setting support device 10 is configured to be connectable to the motor control device 20 and the sensor 44 for detecting the position of the load machine 42 driven by the motor 41. The sensor 44 connected to the setting support device 10 is, for example, a linear scale (linear encoder).

[0072] Moreover, if Figure 3 As shown, the setting support device 10 includes an input device 11 , a main body 12 , and a display device 13 .

[0073] The input device 11 is a device for inputting information such as a mouse and a keyboard. The display device 13 is a device for displaying text, graphics, etc. The main body 12 is a unit centered on a processor. A setting support program is installed in the main body 12, and the setting support program is executed by the processor in the main body 12, so that the main body 12 functions as a model making unit 16, a responsiveness index value calculating unit 17, and a display control unit 18.

[0074] 〔Model Making Department 16〕

[0075] First, use Figures 4 to 6 The function of the model creation unit 16 will be described. Figure 4 is an explanatory diagram of the frequency response characteristics measured by the model making unit 16 during model making. Figure 5 1 is an explanatory diagram of a model produced by the model production unit 16. Figure 6 It is an explanatory diagram of an example of the measurement result of the frequency response characteristic by the model creation unit 16 .

[0076] The model creation unit 16 is a functional block that creates a model for simulating the index value of the responsiveness of the load machine 42 (the overshoot amount and the settling time in the present embodiment).

[0077] The model creation unit 16 starts the model creation process when the user instructs the creation of a model by operating the input device 11. The model creation unit 16 that has started the model creation process first inputs a predetermined command to the motor control device 20, thereby controlling the motor control system, Figure 4 The frequency response characteristics of the portion shown in the dotted box in (ie, the speed frequency response characteristics) are measured.

[0078] Next, the model creation unit 16 creates a model that approximates a mechanical system including the motor 41 , the load machine 42 , and a coupling that connects the motor 41 and the load machine 42 , based on the measurement result of the frequency response characteristics.

[0079] The model produced by the model producing unit 16 of this embodiment is as follows Figure 4 Schematically shown is a so-called dual-inertia model that approximates the mechanical system using Ga(s), Gb(s), and H(s).

[0080] Here, Ga(s), Gb(s), and H(s) are transfer functions defined by the following equations (1) to (3), respectively. In the following equations (1) to (3), Ja is the inertia of the driving side (motor 41 side) of the mechanical system, and Jb is the inertia of the passive side (load machine 42 side) of the mechanical system. K and D are the spring constant and viscous friction coefficient of the mechanical system, respectively, and s is the Laplace operator.

[0081] [Number 1]

[0082]

[0083]

[0084]

[0085] In addition, the measurement results of the frequency response characteristics are as follows Figure 6 As illustrated, there is an anti-resonance frequency with the minimum gain and a resonance frequency with the maximum gain, and the gain on the frequency side lower than the anti-resonance frequency changes at a fixed rate of change (-20dB / dec). When the model making unit 16 makes a model based on the measurement results of the frequency response characteristics, it calculates Ja+Jb based on the gain on the frequency side lower than the anti-resonance frequency of the obtained frequency response characteristics, and calculates the ratio of Ja to Jb based on the resonance ratio (the ratio of the resonance frequency to the anti-resonance frequency). Next, the model making unit 16 calculates Ja and Jb based on the two calculation results. Furthermore, the model making unit 16 calculates the spring constant K based on Ja and the anti-resonance frequency, and calculates the viscous friction D based on the gains at the anti-resonance frequency and the resonance frequency. And, the model making unit 16, which has completed the calculation of various parameters, ends the model making process.

[0086] The model making unit 16 may also make a model with more parameters than the dual inertia model. Fig. 7A and Figure 7B As shown, the gain and phase at each frequency can also be well estimated. Fig. 7A is a frequency-gain characteristic diagram showing the relationship between a value obtained by simulation using the model created by the model creation unit 16 of the present embodiment and an actual measured value, Figure 7B 3 is a frequency-phase characteristic diagram showing the relationship between the value obtained by simulation using the model and the actually measured value.

[0087] [Response index value calculation unit 17]

[0088] Responsiveness index value calculation unit 17 ( Figure 3) is a functional block as described below, that is, by simulation based on the model created by the model creation unit 16, a responsiveness index value (hereinafter also referred to as a load-side responsiveness index value) indicating the responsiveness of the load machine 42 when the motor control device 20 is operated in various states is calculated. Here, the so-called various states refer to states in which the values ​​of two control parameters (hereinafter also referred to as designated parameters) designated by the user as setting objects are different from each other. The various states may be states in which control parameters other than the two designated parameters are fixed, or states in which there are control parameters other than the two designated parameters whose values ​​change in conjunction with the designated parameter values.

[0089] The responsiveness index calculation unit 17 calculates the overshoot and settling time of the motor shaft of the motor 41 (hereinafter also referred to as the motor-side responsiveness index) when calculating the load-side responsiveness index (overshoot and settling time of the load machine 42) in each state.

[0090] Furthermore, the responsiveness index value calculation unit 17 has a function of converting the load-side responsiveness index value into a value in the coordinate system of the load machine 42 and outputting the value. Figure 5 ) is a value in the coordinate system of the motor 41, but generally speaking, if the load-side responsiveness index value is a value in the coordinate system of the load machine 42, it is easy to grasp the responsiveness of the load machine 42. Therefore, the responsiveness index value calculation unit 17 is configured to set a conversion coefficient for converting the value in the coordinate system of the motor 41 into the value in the coordinate system of the load machine 42 (in other words, the value of the position change of the load machine 42 relative to the unit change of the position of the motor 41). And, when the responsiveness index value calculation unit 17 is set with a conversion coefficient, as Figure 8 As schematically shown, a value obtained by multiplying the load-side responsiveness index value calculated based on the model by the conversion coefficient is output as a simulation result of the load-side responsiveness index value.

[0091] [Display control unit 18]

[0092] Display control unit 18 ( Figure 3 ) is a functional block that displays the calculation results (hereinafter also referred to as evaluation results) of various responsiveness index values ​​by the responsiveness index value calculation unit 17 on the screen of the display device 13 in a form specified by the user.

[0093] For example, when a simulation is completed with the speed proportional gain Kvp and the model gain KModel designated as the setting object, and an instruction is given to display the evaluation result in a normal form, the display control unit 18 displays Fig. 9The image shown is displayed on the screen of the display device 13. That is, at this time, the display control unit 18 displays the contour line diagram showing the overshoot amount of the load machine 42 ("load end overshoot amount"), the contour line diagram showing the stabilization time of the load machine 42 ("load end stabilization time"), the contour line diagram showing the overshoot amount of the motor shaft ("motor shaft overshoot amount"), and the contour line diagram showing the stabilization time of the motor shaft ("motor shaft stabilization time") on the screen of the display device 13 at the same time.

[0094] Furthermore, when the simulation is completed with the speed proportional gain Kvp and the position proportional gain Kpp designated as the setting object, and an instruction is given to display the evaluation result in a normal form, the display control unit 18 displays Fig.10 An image such as that shown is displayed on the screen of the display device 13 .

[0095] When a display instruction for a load (or motor) responsiveness index value is inputted, which specifies the permissible range of one of the responsiveness index values ​​(i.e., overshoot or settling time), the display control unit 18 displays the following contour map on the screen of the display device 13, wherein the contour map is a contour map of another load (or motor) responsiveness index value, and is a contour map in a form that allows the user to understand the combination of the specified parameter values ​​for which one of the responsiveness index values ​​is not within the permissible range. Specifically, for example, when a display instruction for a load-side responsiveness index value is inputted, which specifies the permissible range of the settling time to be less than 0.09 sec, the display control unit 18 displays the following contour map on the screen of the display device 13, wherein the contour map is a contour map of the other load (or motor) responsiveness index value, and is a contour map in a form that allows the user to understand the combination of the specified parameter values ​​for which the one of the responsiveness index values ​​is not within the permissible range. Fig.11 As shown schematically, the following contour map is displayed, which is a contour map of the load end overshoot amount ( Fig.11 ), and is a contour map in which the color of the area where the stabilization time is not within the allowable range is set to the color representing the maximum overshoot amount.

[0096] Furthermore, the display control unit 18 has a function of displaying the following contour map on the screen of the display device 13. Fig.12 The contour map shown in the lower section of , that is, the contour map showing the worst values ​​among the load-side responsiveness index value and the motor-side responsiveness index value for each combination of designated parameters.

[0097] Furthermore, the display control unit 18 is also configured to change the set values ​​in the motor control device 20 regarding the two control parameters that are the setting objects to the values ​​of the specified point when a specified operation is performed to specify a point in any contour map on the screen of the accompanying display device 13.

[0098] As described above, the setting support device 10 of the present embodiment can present the user with the responsiveness index value indicating the responsiveness of the load machine 42. Therefore, according to the setting support device 10, the user can set the control parameters of the motor control device 20 in a form that takes into account the responsiveness of the load machine 42. And as a result, it is possible to suppress the setting of the control parameters in which the overshoot amount or the settling time of the load machine 42 falls outside the allowable range.

[0099] Second Implementation Method

[0100] Hereinafter, the configuration and operation of a setting support device 10 b according to a second embodiment of the present invention will be described focusing on the parts that are different from the setting support device 10 according to the first embodiment.

[0101] Fig.13 A schematic configuration of a setting support device 10b according to the second embodiment is shown.

[0102] As shown in the figure, the setting support device 10b is a model making unit 16 (see Figure 3 ) is replaced by the device of the model making unit 16b.

[0103] The modeling unit 16b is a functional block that generates the following information in the motor control system: Fig.14 The frequency response characteristics of the portion shown in the dotted box in (i.e., the frequency response characteristics of the system that takes the speed command to the motor 41 as input and the position detection result of the load machine 42 by the sensor 44 installed on the load machine 42 as output) are measured, and a model is created based on the measurement results.

[0104] That is, the setting support device 10b is a device obtained by modifying the setting support device 10 so as to directly obtain the transfer function used as the model (see Figure 5 ) device.

[0105] The setting support device 10b having the above-described structure can also present the user with a responsiveness index value indicating the responsiveness of the load machine 42. Therefore, the setting support device 10b allows the user to set the control parameters of the motor control device 20 in a form that takes the responsiveness of the load machine 42 into consideration. As a result, it is possible to suppress the setting of control parameters in which the overshoot amount or settling time of the load machine 42 is outside the permissible range.

[0106] 《Third Implementation Mode》

[0107] Hereinafter, the configuration and operation of a setting support device 10 c according to a third embodiment of the present invention will be described focusing on the parts that are different from the setting support device 10 according to the first embodiment.

[0108] Fig.15 A schematic configuration of a setting support device 10c according to the third embodiment is shown.

[0109] Compare the Fig.15 and Figure 3 It is clear that the setting support device 10c is a main body 12 (see Figure 3 ) implements the following modified device, that is, the model preparation unit 16 is deleted and the responsiveness index value calculation unit 17 is replaced by a responsiveness index value calculation unit 17c.

[0110] The responsiveness index value calculation unit 17c is a functional block that measures various responsiveness index values ​​(obtains various responsiveness index values ​​based on the outputs of the encoder 43 and the sensor 44). In addition, the so-called measuring various responsiveness index values ​​means obtaining various responsiveness index values ​​using the measurement results of the outputs of the encoder 43 and the sensor 44.

[0111] The setting support device 10c having the above-described structure can also present the user with a responsiveness index value indicating the responsiveness of the load machine 42. Therefore, the setting support device 10c allows the user to set the control parameters of the motor control device 20 in a manner that takes into account the responsiveness of the load machine 42. As a result, it is possible to suppress the setting of control parameters in which the overshoot amount or settling time of the load machine 42 is outside the permissible range.

[0112] 《Variation Example》

[0113] The setting support devices 10, 10b, and 10c of the above-mentioned embodiments can be modified in various ways. For example, the setting support devices of the first and second embodiments can be modified into devices that actually measure the motor-side responsiveness index value or the load-side responsiveness index value. Furthermore, the setting support device of the first embodiment can be modified into a device used for setting Ja, Jb, etc.

[0114] The frequency response characteristics measured for modeling may be those that take the position command or torque command as input, or those that take the speed or acceleration of the load machine 42 as output. Of course, the setting support device may be modified to display a contour map in a different form from the above (e.g., a contour map showing isovalue lines), or the setting support device may be modified to display the evaluation results in a map other than a contour map (e.g., a graph).

[0115] Notes

[0116] 1. A setting support device 10 for supporting setting of a plurality of control parameters of a motor control device 20, wherein the motor control device 20 controls the motor 41 using information from an encoder 43 installed in a motor 41 driving a load machine 42, the setting support device 10 comprising:

[0117] The determination unit 17, 17b, 17c determines a performance index value for each of a plurality of states in which the value of a first control parameter among the plurality of control parameters is different from each other, the performance index value indicating the responsiveness of the load machine when the motor control device controls the motor in the state; and

[0118] The presenting unit 18 presents the performance indicator value for each of the plurality of states determined by the determining unit to a user.

Claims

1. A setting support device for supporting setting of a plurality of control parameters of a motor control device, wherein the motor control device controls the motor using a position of the motor detected by an encoder installed in a motor driving a load machine, the setting support device comprising: a determination unit that determines a responsiveness performance index value by detecting the position of the load machine using a sensor in each of a plurality of states having a plurality of different values ​​of the position proportional gain among the plurality of control parameters, the responsiveness performance index value indicating the responsiveness of the load machine when the motor control device controls the motor in the state; as well as The presenting unit presents the responsiveness performance index value for each of the plurality of states determined by the determining unit to a user.

2. The setting support device according to claim 1, characterized in that: The determination unit determines the responsiveness performance index value for each of the plurality of states through simulation based on a model that approximates the load machine.

3. The setting support device according to claim 2, characterized in that: The model is a multi-inertia model that takes into account at least the inertia of the motor and the inertia of the load machine.

4. The setting support device according to claim 2, characterized in that Also includes: The model making unit measures the frequency response characteristics of the system and makes the model based on the measurement results. The system takes the command to the motor as input and takes the detection result of any one of the position, speed and acceleration of the load machine by the sensor installed on the load machine as output.

5. The setting support device according to claim 4, characterized in that: The model creation unit determines an antiresonance frequency, a resonant frequency, a gain at the antiresonance frequency, a gain at the resonant frequency, and a gain at a frequency lower than the antiresonance frequency based on the measured frequency response characteristics, and creates the model based on the determination results.

6. The setting support device according to claim 1, characterized in that: The determination unit causes the motor control device to control the motor in each of the plurality of states to collect outputs of sensors mounted on the load machine, and determines the responsiveness performance index value based on the collected outputs.

7. The setting support device according to any one of claims 1 to 6, characterized in that: The determination unit further determines a motor-side performance index value for each of the plurality of states, the motor-side performance index value indicating responsiveness of a motor shaft of the motor when the motor control device controls the motor in the state; The responsiveness performance index value determined by the determination unit for each state is presented to a user together with the motor-side performance index value determined by the determination unit for each state.

8. The setting support device according to claim 7, characterized in that: The determination unit determines the motor-side performance index value based on information from the encoder.

9. The setting support device according to claim 7, characterized in that: The determination unit determines the motor-side performance index value through simulation.

10. The setting support device according to any one of claims 1 to 6, characterized in that: The responsiveness performance index value is information indicating the responsiveness of the load machine using a unit in the coordinate system of the load machine.

11. The setting support device according to any one of claims 1 to 6, characterized in that: The determination unit determines a first responsiveness performance index value indicating a first responsiveness of the load machine and a second responsiveness performance index value indicating a second responsiveness of the load machine as the responsiveness performance index value for each of the plurality of states, The presenting unit presents the second responsiveness performance index value for each state in which the first responsiveness performance index value is within an allowable range to the user in a form that allows the user to understand each state in which the first responsiveness performance index value is not within the allowable range.

12. The setting support device according to any one of claims 1 to 6, characterized in that: The determination unit further determines a motor-side performance index value for each of the plurality of states, the motor-side performance index value indicating responsiveness of a motor shaft of the motor when the motor control device controls the motor in the state; The presenting unit presents, to a user, a value indicating worse responsiveness between the responsiveness performance index value and the motor-side performance index value for each of the plurality of states.

13. The setting support device according to any one of claims 1 to 6, characterized in that: With respect to the position proportional gain and another control parameter among the plurality of control parameters, the determination unit determines the responsiveness performance index value in each of the plurality of states having a plurality of different combinations of values ​​of the position proportional gain and values ​​of the another control parameter, The prompting unit prompts the user with the responsiveness performance index value for each of the multiple states by displaying a contour map, wherein the contour map sets the value of the position proportional gain and the value of the other control parameter as one of the vertical axis and the other of the horizontal axis, respectively, and represents the responsiveness performance index value by color or brightness.

Images