Management program, management device, and management method

Abstract

The present invention provides a management program that reduces user's trouble for a series of jobs for a motor amplifier. The management program (210) is executed by a management device (1) that manages jobs for a motor amplifier (2) that controls a motor (4). The management program (210) acquires instruction information from a user, and generates setting information (200) that contains an execution order of a plurality of jobs executed for the motor amplifier, based on the instruction information. Further, the motor amplifier is caused to execute the jobs based on the set setting information (200). A GUI of the management program (210) performs labeling of a ladder diagram program that arranges icons on a screen in an order in a specific direction.

Description

Technical Field

[0001] The present invention particularly relates to a management procedure, a management device, and a management method executed by a management device that manages the operation of a motor amplifier that controls a motor. Background Technology

[0002] Previously, there were motor amplifiers that provided feedback control over the rotation of the motor that caused the object to move.

[0003] During the mass production, setup, and maintenance (hereinafter referred to as "manufacturing") of this motor amplifier, a series of tasks (operations) are required to ensure its normal operation. These tasks include setting various parameters, tuning each device, and conducting trial runs to verify the operation during aging.

[0004] For example, Patent Document 1 describes a technique for automatically adjusting (automatic tuning) the control parameters of an electric motor control device (motor amplifier).

[0005] In manufacturing and other processes, manufacturers or service personnel perform these series of tasks one by one in a specific order. However, these tasks are routine operations performed in the same way depending on the machine model, setup environment, etc., and the same tasks are repeated every time motor amplifiers are manufactured.

[0006] [Existing Technical Documents]

[0007] [Patent Literature]

[0008] Patent Document 1: Japanese Patent Application Publication No. 2016-19304 Summary of the Invention

[0009] The technical problem that the invention aims to solve

[0010] Here, in order to perform a series of routine tasks, users need to launch individual dedicated application software (hereinafter referred to as "application") for each individual task.

[0011] Therefore, it is troublesome and time-consuming for users.

[0012] The present invention was made in view of the following situation, and its object is to provide a management program that can reduce the trouble for users, thereby solving the above-mentioned problems.

[0013] Technical solutions to solve technical problems

[0014] In one aspect of the present invention, a management procedure is executed by a management device that manages the operation of a motor amplifier for controlling a motor. The management procedure is characterized by obtaining instruction information from a user, generating setting information based on the instruction information that includes the execution order of various operations performed on the motor amplifier, and causing the motor amplifier to perform the operations based on the set setting information.

[0015] This design reduces inconvenience for users.

[0016] One aspect of the management procedure of the present invention is characterized by using a graphical user interface to allow the user to arrange icons on a screen corresponding to the types of tasks, and to obtain instruction information containing attributes set for the arranged icons.

[0017] This configuration makes it easy to issue instructions for a series of tasks.

[0018] One aspect of the management program of the present invention is characterized in that the graphical user interface performs a tagging based on a ladder diagram program, which executes the icons arranged on the screen in a specific directional order.

[0019] This design reduces user hassle and makes it easier to perform a series of tasks.

[0020] One aspect of the management procedure of the present invention is characterized in that, when generating the setting information, it is determined whether execution is prohibited due to its relationship with other operations.

[0021] This structure enables the safe execution of a series of tasks.

[0022] One aspect of the management procedure of the present invention is characterized in that the icons include function icons corresponding to functions related to the job, and control icons for controlling the execution of other icons.

[0023] This configuration enables control over the execution of tasks.

[0024] One aspect of the present invention is a management device for managing the operation of a motor amplifier that controls a motor, characterized in that it comprises: a job setting unit that receives instruction information from a user and generates setting information including the execution order of various jobs to be performed on the motor amplifier based on the instruction information; and a job execution unit that causes the motor amplifier to perform the jobs based on the setting information set by the job setting unit.

[0025] This design reduces inconvenience for users.

[0026] One aspect of the present invention is a management method performed by a management device that manages the operation of a motor amplifier that controls a motor. The method is characterized by obtaining instruction information from a user, generating setting information based on the instruction information that includes the execution order of various operations performed on the motor amplifier, and causing the motor amplifier to perform the operations based on the set setting information.

[0027] This design reduces inconvenience for users.

[0028] Invention Effects

[0029] According to the present invention, a management program is provided that obtains instruction information from a user, generates setting information containing the execution order of various operations performed on a motor amplifier based on the instruction information, and causes the motor amplifier to perform operations based on the set setting information, thereby enabling the execution of a series of routine operations at once, which can reduce the trouble for the user.

[0030] Brief description of the attached figures

[0031] Figure 1 This is a system structure diagram of the control system X according to an embodiment of the present invention.

[0032] Figure 2 This is a flowchart of the task mode processing in an embodiment of the present invention.

[0033] Figure 3 yes Figure 2 The image shown is an example of a screen in the task mode processing. Detailed Implementation

[0034] <Implementation Method>

[0035] [Structure of Control System X]

[0036] Reference Figure 1 The structure of the control system X according to an embodiment of the present invention will be described. The control system X is configured to include a management device 1, a motor amplifier 2, an encoder 3, and a motor 4.

[0037] Management device 1 is a work (management) device used by users for a series of operations such as manufacturing motor amplifier 2. Management device 1 is, for example, a laptop or PC (Personal Computer), "2-in-1" or tablet information device, smartphone, mobile phone, or other dedicated terminal used by service personnel, managers, or factory employees to set up the control system X.

[0038] The management device 1 may also be configured to install a control program, including an OS (Operating System), middleware, a device driver for the motor amplifier 2, a management program 210 for managing the motor amplifier 2, and an application program for performing various tasks, into the storage unit 11 and execute it by the control unit 10, thereby becoming a management device.

[0039] In this embodiment, the management device 1 can also replace the upper-level device such as a PLC (Programmable Logic Controller) used in the actual operation process, so as to enable the motor amplifier 2 to perform test operations. Alternatively, the generated setting information 200 can be sent to the upper-level device such as a PLC to drive the motor amplifier 2.

[0040] The motor amplifier 2 is connected to the encoder 3 and is a control device such as a motor amplifier (servo amplifier) ​​that provides feedback control for the rotation of the motor 4.

[0041] The motor amplifier 2 is connected to the management device 1 via, for example, a field network such as USB (Universal Serial Bus), serial communication (RS-232C), Bluetooth (registered trademark), IP network, or EtherCAT. On the other hand, the motor amplifier 2 is connected to the encoder 3 via, for example, a dedicated line or serial communication line, and provides power to the servo drive motor 4. This power is supplied to the motor 4 either via the encoder 3 or directly.

[0042] In this embodiment, the motor amplifier 2 may also use the current feedback value of the motor control of the motor 4 to calculate the torque value that shows the torque of the shaft driving the object.

[0043] In addition, the motor amplifier 2 can also obtain status information such as temperature from the encoder 3 or the motor 4.

[0044] Furthermore, the motor amplifier 2 can also respond to data requests from the management device 1 or a higher-level device such as a PLC.

[0045] The encoder 3 is a device for obtaining the rotational position of the motor. In this embodiment, the encoder 3 detects position data of the rotational position of the shaft associated with the rotational shaft of the motor 4 and sends it as angle information to the motor amplifier 2.

[0046] Motor 4 is a servo motor or similar device used to move an object. Motor 4 rotates its shaft, which serves as the output shaft, according to a control signal from motor amplifier 2. Motor 4 includes a rotor, bearings, a stator, and a bracket.

[0047] In this embodiment, the objects of motion that are moved by the motor 4 also include a ball screw mechanism such as a robotic arm and a conveyor belt mechanism such as a conveyor belt.

[0048] Depending on the type of object being acted upon and the surrounding environment, the braking actions will vary, thus requiring the adjustment of control parameters, trial runs, and other operations.

[0049] Next, the control structure of the management device 1 of the control system X will be explained.

[0050] The management device 1 includes a control unit 10, a storage unit 11, an input unit 12, and a display unit 13.

[0051] The control unit 10 is the control and arithmetic unit of each part of the control and management device 1. The control unit 10 may be, for example, a CPU (Central Processing Unit), an MPU (Micro Processing Unit), a DSP (Digital Signal Processor), or an ASIC (Application Specific Integrated Circuit).

[0052] In this embodiment, the control unit 10 can also obtain angle information, information from various other sensors, and torque values ​​from the motor amplifier 2.

[0053] Storage unit 11 contains non-temporary recording media such as RAM (Random Access Memory) for storing temporary data and ROM (Read Only Memory) for storing control programs. Control programs and various types of data are stored in storage unit 11.

[0054] The input unit 12 is a pointing device such as a keyboard, mouse, or touchpad, or a touch panel, which obtains user instructions. The input unit 12 obtains instructions from the application's GUI (Graphical User Interface).

[0055] Display unit 13 can be a liquid crystal display, an organic EL (Electro-Luminescence) display, an LED (Light Emitting Diode), or the like. Display unit 13 is capable of displaying the GUI of an application program.

[0056] Alternatively, the control unit 10 and storage unit 11 of the management device 1 can also be integrated as a GPU-integrated CPU or on-chip package.

[0057] Alternatively, the input unit 12 and the display unit 13 can be integrated as a single unit, similar to a touch panel display.

[0058] Next, the functional structure of the management device 1 of the control system X will be explained.

[0059] The control unit 10 of the management device 1 includes a work setting unit 100, a work execution unit 110, and a prohibition judgment unit 120.

[0060] Storage unit 11 stores setting information 200 and management program 210.

[0061] The operation setting unit 100 obtains instruction information from the user from the input unit 12 and generates setting information 200 based on the instruction information.

[0062] In this embodiment, the job setting unit 100, for example, uses a graphical user interface (hereinafter referred to as "GUI") to allow the user to arrange icons corresponding to the types of jobs on the screen. These icons include function icons corresponding to functions related to the job, and control icons for controlling the execution of other icons.

[0063] Based on this, the operation setting unit 100 obtains instruction information containing attributes set for the arranged icons. Here, the GUI of this embodiment performs marking based on a ladder diagram program that executes the icons arranged on the screen in a specific directional order.

[0064] The operation execution unit 110 causes the motor amplifier to perform operations based on the setting information 200 set by the operation setting unit 100.

[0065] The operation execution unit 110 can, for example, cause the motor amplifier 2 to perform a test operation, or send setting information 200 to a higher-level device such as a PLC and execute it.

[0066] When the operation setting unit 100 generates setting information 200, the prohibition judgment unit 120 determines whether execution is prohibited due to its relationship with other operations.

[0067] In this embodiment, for example, the prohibition judgment unit 120 excludes combinations that would cause damage to the motor amplifier 2 or the object being operated, such as performing a test operation at full speed even though it is not tuned.

[0068] The configuration information 200 contains data regarding the execution order of various tasks performed on the motor amplifier. In this embodiment, the configuration information 200 may be, for example, a macro language file, a batch file, a file in various shell or high-level languages, a script file, an intermediate language file for the PLC, a binary file, etc. Specifically, the configuration information 200 can be a file that sets attributes and is invoked in the job application of various tasks.

[0069] Furthermore, the configuration information 200 can set attributes for each job as associated configuration data, and can also include data transferred between jobs. This transferred data can be prepared, for example, as a dedicated "intermediate file" corresponding to the configuration information 200. When preparing this "intermediate file," it can include settings for the application program used by jobs that are executed later (downstream). These settings can include, for example, "completion flags" and "handover parameters" for each job.

[0070] Here, the control unit 10 functions as the job setting unit 100, the job execution unit 110, and the prohibition judgment unit 120 by executing the management program 210 stored in the storage unit 11.

[0071] Furthermore, each part of the management device 1 becomes a hardware resource for executing the management program 210 and management method of this embodiment.

[0072] [Task Mode Handling]

[0073] Next, according to Figure 2 and Figure 3 The task mode processing of the control system X according to an embodiment of the present invention will be described.

[0074] In the task mode processing of this embodiment, instruction information from the user is obtained, and setting information 200 containing the execution order of various operations performed on the motor amplifier is generated based on the instruction information. When generating the setting information 200, it is determined whether execution is prohibited due to its relationship with other operations. Then, the motor amplifier performs the operations according to the set setting information 200.

[0075] In the task mode processing of this embodiment, the control unit 10 mainly cooperates with other units to use hardware resources to execute the control program stored in the storage unit 11.

[0076] The following is based on Figure 2 The flowchart illustrates the details of the task mode processing in this embodiment step by step.

[0077] (Step S101)

[0078] First, the job setting unit 100 performs job setting processing.

[0079] The operation setting unit 100 obtains instruction information from the user and generates setting information 200 that includes the execution order of various operations performed on the motor amplifier 2 based on the instruction information.

[0080] First, in the management device 1, when the user starts the management program 210, the normal setting screen of the GUI (not shown) is displayed on the display unit 13.

[0081] In this normal setting screen, a "MODE" switch button is displayed. According to the instruction information from the input unit 12, when the "MODE" button is pressed, the job setting unit 100 switches the operation mode of the execution management program 210 to "task mode". This "task mode" is used to generate setting information 200 about a series of jobs.

[0082] Here, according to Figure 3 Explain the details of this process.

[0083] Figure 3 Screen example 300 shows an example of the "task mode" screen. In addition, in this "task mode", when the "MODE" button B1 is pressed, it switches to "normal mode" for setting based on the normal setting screen.

[0084] This section explains an example of job setting and processing in "task mode".

[0085] When switching to "Task Mode" in screen example 300, area R of the "Program Palette" is displayed in the GUI.

[0086] Furthermore, to enable users to easily indicate the execution order of a series of tasks, an "icon palette" is provided with buttons that represent the various functions managed by the management device 1. In this example, the "icon palette" includes a function icon palette FI with function icons arranged in a row and a control icon palette CI with control icons arranged in a row. In this embodiment, function icons are icons used to call up the application programs for each task according to the functions related to the task. On the other hand, control icons are icons used to perform controls related to the execution of other icons.

[0087] At this time, the job setting unit 100 allows the user to arrange icons on the screen that correspond to the types of jobs.

[0088] In this example, the user drags and drops icons from the "icon palette" to the "program palette" via the input section 12 to assemble the program.

[0089] Whenever these icons are configured or their attributes are set, the operation setting unit 100 obtains instruction information containing the attributes set for the arranged icons.

[0090] Here, in this embodiment, the area R of the "program palette" is executed sequentially from left to right, similar to the "ladder diagram program" used in so-called PLCs, where the operations and controls corresponding to each icon are executed. That is, in this example, the "specific direction" of the execution order of the operations is from left to right.

[0091] Specifically, in this "program palette", icons of a certain degree that can be displayed on the display unit 13 can be configured according to the ladder diagram program. In addition, icons can also be configured to positions beyond the area R of the "program palette" using scroll bars or the like.

[0092] Furthermore, after configuring these icons, as shown by the thick lines in area R, the processing flow from each icon can be connected by lines. Thus, similar to the representation of a ladder diagram program, it is possible to control whether execution continues based on the processing result of each icon. Specifically, like an "IF statement," if the processing result of each icon is "success," then the processing of the icon connected to the right is executed. On the other hand, if the processing result is "failure" or "waiting," then processing can be stopped.

[0093] Furthermore, in a series connection where icons are linked according to the ladder diagram program's notation, similar to the logical operation "AND," the execution of each icon is necessary for the execution of the next task. Alternatively, in a parallel connection where icons are linked, similar to the logical operation "OR," the execution of any icon can execute the next task.

[0094] This allows users to freely set the order in which jobs are executed.

[0095] This section details the configurable feature icons.

[0096] In this embodiment, the functions required for each operation of the control system X are configured as their respective application programs in the function icon palette FI, corresponding to the function icons.

[0097] The functions corresponding to these function icons include, for example, "Target", "Communication Settings", "Parameters", "Auto Tuning", "Trial Run", "Waveform Monitor", "Points Table", "I / O Settings", "Machine Analyzer", and "Encoder Settings".

[0098] The "Target" is a function icon used to identify the motor amplifier 2 performing the operation. Multiple "Targets" can be set.

[0099] The "Communication Settings" section configures the communication settings with the connected motor amplifier 2. In these settings, you can configure the IP address and communication speed of the connected motor amplifier 2.

[0100] "Parameter" is a function icon for setting the control parameters of the motor amplifier 2. These control parameters can also be set individually. Alternatively, they can be set by loading a parameter file containing control parameter settings stored in the storage unit 11. Alternatively, control parameters stored in the recording medium of the motor amplifier 2 can be directly read from the motor amplifier 2 and stored as a parameter file in the storage unit 11.

[0101] The "Auto-tuning" function performs automatic tuning of the motor amplifier 2. This "Auto-tuning" can be performed after the tuning conditions are set, and control parameters can be automatically set. These control parameters include, for example, gain parameters and vibration damping filters. Furthermore, the tuned control parameters can be applied to the motor amplifier 2 through "Auto-tuning".

[0102] The "trial run" setting includes action conditions such as movement distance, speed, acceleration and deceleration time, action time, and number of actions, enabling the motor amplifier 2 to perform a trial run on the motor 4 and drive it.

[0103] The "Waveform Monitor" acquires various state values ​​of the motor 4 during operation, such as position, speed, and torque, as waveform data in the time domain. The acquired waveform data can be stored as a waveform file in the storage unit 11, or it can be viewed using a viewer application.

[0104] The "Status Monitor" displays the values ​​of various states of the motor amplifier 2 on the GUI in numerical or graphical form. This also allows for monitoring of error states.

[0105] The "point meter" specifies the movement of motor 4 as "points" and sets the movement to each point. At this time, the "points" are specified by communication with an I / O connector or a host device that functions as an I / O (Input / Output) port setting for motor amplifier 2, and motor 4 is activated for the specified points.

[0106] "I / O Settings" allows users to select and configure the functions assigned to I / O connectors.

[0107] The "Machine Analyzer" examines the mechanical characteristics of the moving object connected to the shaft of motor 4. Specifically, it investigates the resonant point and anti-resonant point, and sets a vibration suppression filter.

[0108] The "Encoder Setting" monitors information about the encoder 3 mounted on the motor 4. This allows the acquisition of error information from the encoder 3. Alternatively, it can also resolve any errors that have occurred with the encoder 3.

[0109] In addition, users can also directly specify applications or add new features, as shown by the "User Defined #1" icon.

[0110] In addition, these functions can be updated by updating the management program 210, middleware, device drivers, etc.

[0111] Next, details about the configurable control icons will be explained.

[0112] In this embodiment, various control icons related to the execution of function icons, etc., can be configured in the control icon color palette (CI). This control allows for the execution of conditional statements or repetitions at a level equivalent to or higher than those executed in a ladder diagram program. For example, control icons such as "FOR:", "WHILE:", and "NOT:" can be used.

[0113] "FOR:" is the control icon for the "FOR loop" of the job that is repeatedly configured on the right and connected to the function icon. If this "FOR:" is configured in area R of the "Program Palette", and the configured control icon is double-clicked using the input unit 12, the number of repetitions and repetition conditions can be set.

[0114] "WHILE:" is the same as "FOR:", a control icon for the "WHILE cycle" of the operation that specifies the control conditions and repeats the operation by connecting the function icon on the right. The repeating conditions for "WHILE:" can also be set by double-clicking the configured control icon on the input section 12, etc.

[0115] In addition, logical operations can also be performed by controlling icons.

[0116] "NOT:" inverts the output of the function icon configured and connected on the right. Alternatively, it executes the function icon configured and connected on the right if the output is "failure".

[0117] In addition, control icons such as "EXOR:" and "NAND:" can also be set in the same way.

[0118] When these icons configured in area R of the "Program Palette" are double-clicked via the input unit 12, a dialog box or other window opens, displaying the icon's properties. In these properties, based on instructions from the input unit 12, the actions or settings associated with the icon, and actions based on that function, can be configured.

[0119] Additionally, in the settings of this attribute, a warning can be displayed if a prohibited value is entered.

[0120] In addition, the operation setting unit 100 can also change the display of each configured icon through attribute settings. For example, in screen example 300, the display of the "target" icon configured in area R of the "program palette" is changed according to the identification name of the motor amplifier 2 performing the operation, such as "target A" and "target B".

[0121] Furthermore, when controlling the color palette, other icons controlled by this icon can also be displayed by changing the connecting lines other than the usual thick lines or the background color.

[0122] Furthermore, in screen example 300, an example of displaying text in each icon is shown, but it can also be shown using icons set for each job application, or pictures that conceptually show each job.

[0123] In addition, the types of function palettes configured in the function icon palette FI and the types of control palettes configured in the control icon palette CI can also be changed (customized) by the user.

[0124] When the "SAVE" button B2 on screen example 300 is pressed according to the instruction information from input unit 12, operation setting unit 100 generates setting information 200 and stores it in storage unit 11. This setting information 200 is based on the icon and its attributes configured in area R of the "program palette" at the time of pressing. Depending on the storage capacity of storage unit 11, any number of setting information 200 can be stored.

[0125] On the other hand, when the "LOAD" button B3 is pressed, the stored setting information 200 is read according to the user's selection and can be reconfigured to area R of the "Program Palette".

[0126] Alternatively, it can be configured to allow for the configuration of multiple icon groups or the display of labels in the "Program Palette" area R for use by different programs.

[0127] (Step S102)

[0128] Next, the prohibition determination unit 120 determines whether the state is prohibited.

[0129] Here, in this embodiment, when the operation setting unit 100 generates setting information 200, the prohibition determination unit 120 determines whether to prohibit execution due to its relationship with other operations.

[0130] Specifically, for example, if a "test run" is performed while the "automatic tuning" operation is not completed, causing the motor 4 to operate at high speed or under high load, it may cause damage to the motor 4 or the object being operated. Therefore, the prohibition judgment unit 120 prioritizes safety and determines that it is a prohibited state that should not be performed.

[0131] Alternatively, the prohibition judgment unit 120 may, for example, in the "point table", determine a prohibition state in cases where the position is interfered with due to the relationship with other objects of operation, or in cases where there is a possibility of significant consumption of the object of operation or the motor 4.

[0132] Alternatively, the prohibition judgment unit 120 can also determine a prohibited state if communication cannot be performed or the operation fails, for example, in the case of a combination of "target", "communication setting" and "encoder setting".

[0133] Furthermore, if the prohibition judgment unit 120 is in a prohibited state in various combinations, it judges it as "yes".

[0134] If the prohibition determination unit 120 is in a prohibited state where execution is prohibited, it determines "yes". If the prohibition determination unit is not in a prohibited state otherwise, it determines "no".

[0135] If "yes", the decision unit 120 prevents the processing from proceeding to step S103.

[0136] If the condition is "No", the decision unit 120 prevents the processing from proceeding to step S104.

[0137] (Step S103)

[0138] When the state is prohibited, the prohibition judgment unit 120 performs a prohibition warning.

[0139] The prohibition judgment unit 120 displays warnings such as "The configuration of this icon is prohibited" on the display unit 13 through dialog boxes, etc., urging the user to make changes.

[0140] Then, the prohibition judgment unit 120 causes the processing to return to step S101 and continue setting.

[0141] (Step S104)

[0142] If the operation is not prohibited, the operation execution unit 110 will perform the operation.

[0143] When the work execution unit 110 presses the "RUN" button B4 in the above-mentioned screen example 300 according to the instruction information from the input unit 12, the work setting unit 100 executes the work application program sequentially according to the generated setting information 200, controls the motor amplifier 2, and performs a series of operations.

[0144] Alternatively, the operation execution unit 110 sends setting information 200 to a higher-level device such as a PLC, causing the motor amplifier 2 to perform operations. In this case, the operation execution unit 110 can also compile, convert, etc., the setting information 200 into a binary file that can be executed by the PLC.

[0145] Here, when there are multiple motor amplifiers 2, the work execution unit 110 causes the motor amplifiers 2 specified by the above-mentioned "target" to perform the work respectively.

[0146] Therefore, even if multiple motor amplifiers 2 are connected to motor 4, a series of operations can be performed as long as each motor amplifier 2 is connected.

[0147] Thus, the task mode processing of the embodiment of the present invention is concluded.

[0148] [Main Effects of This Implementation Method]

[0149] By constructing it as described above, the following effect can be achieved.

[0150] Previously, driving a servo motor required a series of steps, including setting various parameters, tuning each device differently, and confirming operation through aging processes.

[0151] Here, considering manufacturing processes, these series of tasks are mostly routine operations involving repetitive execution of the same tasks. However, to execute these series of tasks, users need to launch and operate each application provided by the manufacturer, one by one, according to the determined task sequence. Therefore, this is cumbersome and time-consuming for users.

[0152] In contrast, the management device 1 of this embodiment is a management device for managing the operation of the motor amplifier 2 for controlling the motor 4. It is characterized by comprising: an operation setting unit 100, which obtains instruction information from the user and generates setting information 200 containing the execution order of various operations to be performed on the motor amplifier based on the instruction information; and an operation execution unit 110, which causes the motor amplifier to perform operations based on the setting information 200 set by the operation setting unit 100.

[0153] In addition, the management device 1 is characterized in that these functions are performed by executing management program 210.

[0154] With this configuration, the series of programmed tasks required to drive motor 4 can be executed in a single, pre-defined sequence. This automates what is currently a complex series of tasks, thereby reducing user hassle.

[0155] Specifically, it can significantly reduce users' working hours and shorten the operation time.

[0156] Furthermore, human error can occur due to operators repeating the same tasks, resulting from misoperation. Similarly, human error can also occur if the operator changes.

[0157] In contrast, the management device 1 according to this embodiment can be expected to reduce operational errors and minimize human error. This reduces the time and labor required to stabilize the quality of the control system X, and also reduces manufacturing and operating costs.

[0158] The management program 210 of this embodiment is characterized in that, through the GUI, the user arranges icons corresponding to the types of tasks on the screen and obtains instruction information containing the attributes set for the arranged icons.

[0159] This design allows for easy instruction of a series of tasks. Consequently, users can easily grasp the workflow of these tasks, improving usability.

[0160] In the management program 210 of this embodiment, the GUI is characterized by marking based on a ladder diagram program that executes icons arranged on the screen in a specific directional order.

[0161] This configuration allows for a series of operation instructions to be given via user-familiar markings, such as adjusting the servo amplifier. This reduces user hassle and makes it easier to perform a series of tasks.

[0162] The management program 210 of this embodiment is characterized in that, when generating setting information 200, it determines whether execution is prohibited due to its relationship with other operations.

[0163] This configuration prevents damage to the motor amplifier 2 or the moving object from occurring due to interactions with other operations. Therefore, a series of operations can be performed safely.

[0164] In the management program 210 of this embodiment, the icons include function icons corresponding to functions related to the job, and control icons for controlling the execution of other icons.

[0165] This configuration not only enables the execution of job applications for each task but also allows for control over the execution process. This allows for complex controls such as FOR loops or logical operations. Consequently, it enables the execution of tasks tailored to the user's environment.

[0166] [Other Implementation Methods]

[0167] In addition, the above embodiments describe an example in which the user configures icons on the "program palette" to generate setting information 200.

[0168] Regarding this, as a "preset", the provider of the management program 210 or the like can prepare setting information 200 for various situations. Alternatively, the provider can also prepare the "preset" setting information 200 for each customer or the like. Furthermore, the created and saved setting information 200 can be provided, loaded, saved, or re-edited via a network or recording medium.

[0169] This configuration reduces the amount of time users need to spend setting up a series of tasks.

[0170] In the above embodiments, an example of using function icons prepared by the management program 210 as function icons is described.

[0171] However, the user can also generate the function icon or job application and configure it as an icon through the management program 210. Furthermore, the structure, such as the code of the user's job application, can be attached and read when the setting information 200 is generated. In addition, the setting information 200 can be changed according to dedicated "intermediate files" or "communication specifications".

[0172] This design allows it to be adapted to various environments.

[0173] In the above-described embodiments, examples of executing the various operations involved in the configured function icons from left to right, as a specific direction on the GUI, are described, similar to a typical ladder diagram program.

[0174] However, this specific direction can also be from right to left, from top to bottom, or from bottom to top. Alternatively, it can be a GUI that executes in any direction based on the connection of the icons.

[0175] This configuration also enables more complex controls that are tailored to user preferences.

[0176] In the above embodiments, examples of automatically executing a series of routine operations during mass production, such as manufacturing, are described.

[0177] However, during adjustments when setting up the factory, setting information 200 can also be generated and executed for a series of detailed operations such as "automatic tuning", "waveform monitoring", "status monitoring", and "trial operation".

[0178] Furthermore, during troubleshooting or maintenance, setting information 200 can be generated and executed for tasks such as "trial operation," "waveform monitoring," and "status monitoring" that reproduce and confirm the occurrence of faults.

[0179] In the above embodiments, an example is described in which the management device 1 and the motor amplifier 2 are configured as different devices.

[0180] However, the motor amplifier 2 and the management device 1 can also be integrated into one unit. In this case, for example, the HTTP server or dedicated management program built into the motor amplifier 2 can be accessed from other PCs via a network, RS-232C, etc.

[0181] Therefore, without the need for special equipment, it is possible to achieve the same function as the management device 1 in the above-described embodiment.

[0182] In the above embodiment, it is described that setting information 200 is generated for a series of jobs using a GUI.

[0183] However, it is also possible to generate setting information such as 200 through macros or scripts without using the GUI.

[0184] Furthermore, the structure and operation of the above-described embodiments are examples, and appropriate modifications can be made without departing from the spirit of the present invention.

[0185] Symbol Explanation

[0186] 1 Management device, 2 Motor amplifier, 3 Encoder, 4 Motor, 10 Control unit, 11 Storage unit, 12 Input unit, 13 Display unit, 100 Operation setting unit, 110 Operation execution unit, 120 Prohibition judgment unit, 200 Setting information, 210 Management program, 300 Screen example, B1, B2, B3, B4 Buttons, X Control system.

Claims

1. A management procedure executed by a management device that manages the operation of a motor amplifier controlling a motor, characterized in that, Obtain instruction information from the user, and based on this instruction information, generate setting information containing the execution order of various operations to be performed on the motor amplifier. Based on the set information, the motor amplifier performs the operation. The operation includes setting and tuning parameters, and confirming the operation. When generating the setting information, it is determined whether execution is prohibited due to its relationship with other operations, and combinations that would cause damage to the motor amplifier or the object being operated are excluded from the prohibited state.

2. The management procedure as described in claim 1, characterized in that, The prohibited states include situations where autotuning is incomplete, situations where there is positional interference due to the relationship with the object being acted upon, and situations where communication is impossible or the action fails during the combination.

3. The management procedure as described in claim 1 or 2, characterized in that, Using a graphical user interface, the user arranges icons on the screen that correspond to the types of tasks, and obtains instruction information containing attributes set for the arranged icons.

4. The management procedure as described in claim 3, characterized in that, The graphical user interface performs a ladder diagram-based marking process, which executes the icons arranged on the screen in a specific directional order.

5. The management procedure as described in claim 3, characterized in that, The icons include: The function icons corresponding to the functions related to the aforementioned task; and Control icons that perform related controls to the execution of other aforementioned icons. The control includes conditional statements or repetitions that are at least as effective as the statements that can be executed in a ladder diagram program.

6. A management device for managing the operation of a motor amplifier that controls a motor, characterized in that, include: The operation setting unit obtains instruction information from the user and generates setting information containing the execution order of various operations to be performed on the motor amplifier based on the instruction information; as well as The work execution unit, based on the setting information set by the work setting unit, causes the motor amplifier to perform the work. The operation includes setting and tuning parameters, and confirming the operation. When generating the setting information, it is determined whether execution is prohibited due to its relationship with other operations, and combinations that would cause damage to the motor amplifier or the object being operated are excluded from the prohibited state.

7. A management method, executed by a management device that manages the operation of a motor amplifier controlling a motor, characterized in that, Obtain instruction information from the user, and based on this instruction information, generate setting information containing the execution order of various operations to be performed on the motor amplifier. Based on the set information, the motor amplifier performs the operation. The operation includes setting and tuning parameters, and confirming the operation. When generating the setting information, it is determined whether execution is prohibited due to its relationship with other operations, and combinations that would cause damage to the motor amplifier or the object being operated are excluded from the prohibited state.

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