State control program, state control device, and state control method

Abstract

The program causes the state control device (10) connected to the servo amplifier (22) used to drive the servo motor according to the received instructions to function as follows: an acquisition unit (11) which acquires a setting value that should be set in the memory of the servo amplifier (22) as a value containing instructions that is different from the input to the servo amplifier (22) used to drive the servo motor; a receiving control unit (13) which causes the servo amplifier (22) to receive instructions; and a state control unit (14) which controls the state of the servo amplifier (22) by setting the setting value acquired by the acquisition unit (11) in the servo amplifier (22) that operates according to the received instructions.

Description

Technical Field

[0001] This invention relates to a state control program, a state control device, and a state control method. Background Technology

[0002] Servo motors, capable of precisely controlling the rotational position and speed of a shaft, are widely used in Factory Automation (FA) applications. These servo motors operate by power supplied from a servo amplifier, which drives the motor according to instructions received from external devices, such as controllers. These instructions, for example, indicate target values ​​for rotational position and speed. Furthermore, in recent years, servo amplifiers with various functions implemented through computational processing, such as vibration damping and lifespan diagnostics of the rotating shaft, have emerged.

[0003] The aforementioned controller generates instructions for the servo amplifier by executing instruction programs created by the user in the field. Here, in the event of a problem occurring in the operation of the system utilizing the servo motor, the operation of the system in normal mode and abnormal mode is verified to confirm the details of the problem. Regarding operation in normal mode, it is confirmed that the instructions from the controller are as programmed, causing the servo amplifier to operate as described in the instructions.

[0004] In contrast, regarding operation in abnormal modes, debugging-related instructions are typically sent from the PC (Personal Computer) used to create the instruction program to the controller, thereby confirming the controller's actions. Furthermore, techniques for debugging the instruction program executed by the controller have been proposed (for example, see Patent Document 1).

[0005] Patent Document 1: Japanese Patent Application Publication No. 2010-204977 Summary of the Invention

[0006] In verifying the problem, it is desirable to control the state of the servo amplifier independently, in addition to debugging the controller and instruction program. Specifically, there are situations where, for some reason, it is necessary to confirm the actual operation of the servo amplifier in abnormal states, states that deviate from the user's intentions, or other specific states.

[0007] However, in order to control the state of the servo amplifier, it is necessary to determine the input to the servo amplifier that changes its state to the target state through trial and error. In this trial and error process, as described above, rework of instruction program editing, machine wiring, and other setup tasks occurs frequently. Therefore, there is room to reduce the workload of confirming actions for controlling the state of the servo amplifier.

[0008] The present invention was made in view of the above circumstances, and its purpose is to reduce the workload of controlling the state of the servo amplifier to confirm the operation.

[0009] To achieve the above objectives, the state control program of the present invention enables a computer connected to a servo amplifier for driving a servo motor according to received instructions to function as the following unit: an acquisition unit that acquires a set value that should be set in the memory of the servo amplifier as a value containing instructions that is different from the input to the servo amplifier for driving the servo motor; a receiving control unit that causes the servo amplifier to receive instructions; and a state control unit that controls the state of the servo amplifier by setting the set value acquired by the acquisition unit in the servo amplifier that operates according to the received instructions.

[0010] The effects of the invention

[0011] According to the present invention, the workload of verifying actions by controlling the state of the servo amplifier can be reduced. Attached Figure Description

[0012] Figure 1 This is a diagram showing the structure of the servo system involved in Implementation Method 1.

[0013] Figure 2 This is a diagram showing an outline of the state control of the servo amplifier according to Embodiment 1.

[0014] Figure 3 This is a diagram showing the hardware structure of the state control device involved in Embodiment 1.

[0015] Figure 4 This is a diagram showing the functional structure of the state control device involved in Embodiment 1.

[0016] Figure 5 This is a flowchart illustrating the state control process involved in Implementation Method 1.

[0017] Figure 6 This is a diagram used to explain the transmission of instructions according to Embodiment 2.

[0018] Figure 7 This is a diagram illustrating the functional structure of the state control device involved in Embodiment 2.

[0019] Figure 8 This is a flowchart illustrating the state control process involved in Implementation Method 2.

[0020] Figure 9 This is a diagram used to explain the first and second instructions received by the servo amplifier according to Embodiment 3.

[0021] Figure 10 This is a diagram illustrating the functional structure of the state control device involved in Embodiment 3.

[0022] Figure 11 This is a flowchart illustrating the state control process involved in Implementation Method 3.

[0023] Figure 12 This is a diagram showing an outline of the state reproduction of the servo amplifier according to Embodiment 4.

[0024] Figure 13 This is a diagram illustrating the functional structure of the state control device involved in Embodiment 4.

[0025] Figure 14 This is a flowchart illustrating the state reproduction process involved in Implementation Method 4.

[0026] Figure 15 This is a flowchart illustrating the log recording process involved in Implementation Method 4.

[0027] Figure 16 This is a flowchart illustrating the reproduction process involved in Implementation Method 4.

[0028] Figure 17 This is a diagram illustrating the functional structure of the state control device involved in Embodiment 5.

[0029] Figure 18 This is a flowchart illustrating the display processing involved in Implementation 5.

[0030] Figure 19 This is a diagram showing an example of a screen displayed by the display unit according to Embodiment 5. Detailed Implementation

[0031] The state control device according to the embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0032] Implementation method 1.

[0033] exist Figure 1 The diagram shows the structure of a servo system 100 that includes the state control device 10 according to this embodiment. The servo system 100 is constructed in a facility such as a factory to utilize a servo motor 23. For example, the servo system 100 is part of a control system that controls the servo motor 23 and other FA devices, thereby enabling the operation of production lines, processing lines, inspection lines, and other lines.

[0034] The servo system 100 includes: a controller 21 that sends commands to a servo amplifier 22; a servo amplifier 22 that drives a servo motor 23 according to the commands; a servo motor 23 having a rotational axis driven by the servo amplifier 22; an input / output device 24 that inputs information to the controller 21 and the servo amplifier 22 or outputs information from the controller 21 and the servo amplifier 22; and a state control device 10 that controls the state of the servo amplifier 22.

[0035] The status control device 10, controller 21, servo amplifier 22, and input / output device 24 are interconnected and communicate with each other via an industrial network 30. The servo amplifier 22 and servo motor 23 are connected via a power line for supplying power to the servo motor 23 and a communication line for feeding back the detection results of the detection object related to the rotation axis to the servo amplifier 22.

[0036] The controller 21 is a control device represented by a PLC (Programmable Logic Controller). The controller 21 generates instructions sequentially by executing a pre-set instruction program and sends the generated instructions to the servo amplifier 22. The instructions represent at least one target value among the rotational position, rotational speed, and torque of the servo motor 23's rotating shaft.

[0037] Servo amplifier 22 adjusts the current flowing between servo motors 23 so that the rotational axis of servo motors 23 follows the target value indicated by commands received sequentially from controller 21. The adjustment of the current value by servo amplifier 22 is achieved through feedback control based on the response value from servo motors 23. This response value, representing the rotational position of the rotational axis of servo motors 23, is detected by the encoder of servo motors 23. Furthermore, servo amplifier 22 notifies controller 21 of the response value obtained from servo motors 23. Moreover, the response value can be a detected value of the rotational speed of the rotational axis, or a value representing a detection result related to other rotational axes.

[0038] The input / output device 24 is, for example, a FA device that has the function of switching on the controller 21 and the servo amplifier 22 for emergency stop, or of importing information from the controller 21 and the servo amplifier 22 and outputting, recording or transforming such information.

[0039] The state control device 10 is a computer, such as an industrial PC, and has application software called an engineering design tool for creating and editing instruction programs executed by the controller 21. Through this engineering design tool, the state control device 10 controls the state of the servo amplifier 22.

[0040] Here, regarding the state control of servo amplifier 22, using... Figure 2 Provide a summary of its key features. For example... Figure 2 As shown, the servo amplifier 22 includes: a memory 221 that stores values ​​in a storage area identified by an address; and a processing unit 222 that uses the memory 221 to perform processing for performing the functions of the servo amplifier 22.

[0041] The memory 221 is a volatile memory, such as RAM (Random Access Memory), or a non-volatile memory, such as EEPROM (Electrically Erasable Programmable Read-Only Memory). The memory 221 has multiple storage areas, and the values ​​stored in each storage area are used for processing by the processing unit 222. The values ​​stored in the memory 221 include input values, internal values, and output values.

[0042] Input values ​​are values ​​input from the outside during normal operation of the servo amplifier 22, such as target values ​​indicated by commands, values ​​of parameters specified externally for the servo amplifier 22 to operate, or response values ​​notified from the servo motor 23. Output values ​​are values ​​output to the outside during normal operation of the servo amplifier 22, such as response values ​​notified from the servo amplifier 22 to the controller 21, or alarms notified to the outside when an abnormality occurs in the servo amplifier 22. Internal values ​​are not used for the input and output of the servo amplifier 22, but are values ​​specifically used for the internal processing of the servo amplifier 22 by the processing unit 222, such as the count result of stagnant pulses obtained by the deviation counter.

[0043] The values ​​stored in memory 221 correspond to the states of servo amplifier 22. The states of servo amplifier 22 include, for example, an alarm state, a state where stagnant pulses counted by the deviation counter accumulate and are not emitted, an overshoot state of the rotational position, and an oscillation state of the rotational position.

[0044] Regarding the input values ​​among the various values ​​stored in memory 221, they can be controlled during normal operation. In contrast, internal values ​​are generally difficult to control externally during normal operation. Furthermore, the output values ​​are determined through processing based on the input values ​​and internal values; therefore, like internal values, they are generally difficult to control externally during normal operation. As described later, these internal values ​​and output values ​​are written to a setpoint by the state control device 10, and the state of the servo amplifier 22 is controlled as a result.

[0045] The processing unit 222 is equivalent to a processing circuit represented by an IC (Integrated Circuit). The processing unit 222 performs various calculations using the values ​​stored in the memory 221, thereby driving the servo motor 23 according to the instructions from the controller 21.

[0046] exist Figure 3 The hardware structure of the state control device 10 is schematically shown in the diagram. For example... Figure 3 As shown, the status control device 10 includes a processor 101, a main storage unit 102, an auxiliary storage unit 103, an input unit 104, an output unit 105, and a communication unit 106. The main storage unit 102, the auxiliary storage unit 103, the input unit 104, the output unit 105, and the communication unit 106 are all connected to the processor 101 via an internal bus 107.

[0047] Processor 101 includes a CPU (Central Processing Unit) or MPU (Micro Processing Unit) as a processing circuit. Processor 101 executes program P1 stored in auxiliary storage unit 103, thereby performing various functions and executing the processing described later. Program P1 is equivalent to the engineering design tool described above, and is an example of a state control program for controlling the state of servo amplifier 22.

[0048] The main storage unit 102 contains RAM. Program P1 is downloaded from the auxiliary storage unit 103 to the main storage unit 102. Furthermore, the main storage unit 102 is used as the operating area of ​​the processor 101.

[0049] The auxiliary storage unit 103 includes non-volatile memory such as EEPROM and HDD (Hard Disk Drive). In addition to program P1, the auxiliary storage unit 103 also stores various data used in the processing of the processor 101. The auxiliary storage unit 103 supplies data used by the processor 101 to the processor 101 according to the instructions of the processor 101. Furthermore, the auxiliary storage unit 103 stores data supplied from the processor 101.

[0050] The input unit 104 includes input devices such as hardware switches, input keys, keyboards, and pointing devices. The input unit 104 acquires information input by the user from the status control device 10 and notifies the processor 101 of the acquired information.

[0051] The output unit 105 includes output devices such as LED (Light Emitting Diode), LCD (Liquid Crystal Display), and speakers. The output unit 105 displays various information to the user according to the instructions of the processor 101. The output unit 105 can be integrated with the input unit 104 as a touchscreen.

[0052] The communication unit 106 includes a network interface circuit for communicating with external devices. The communication unit 106 receives signals from the outside and outputs the data represented by those signals to the processor 101. Additionally, the communication unit 106 transmits signals representing data output from the processor 101 to external devices.

[0053] The aforementioned hardware structures work in tandem, thereby enabling the state control device 10 to control the state of the servo amplifier 22. Specifically, as... Figure 4 As shown, it has the following functions: an acquisition unit 11 that acquires the set value to be set on the servo amplifier 22; a storage unit 12 that stores various information including the set value; a receiving control unit 13 that sends an instruction to the controller 21 so that the servo amplifier 22 receives the instruction; and a status control unit 14 that controls the status of the servo amplifier 22 by setting the set value on the servo amplifier 22.

[0054] The acquisition unit 11 is primarily implemented through the coordinated operation of the processor 101 and the input unit 104. The acquisition unit 11 acquires the setting value input by the user and the address where the setting value should be written. Additionally, the acquisition unit 11 can also acquire condition information indicating the timing conditions for setting the setting value, and other information used in the status control of the servo amplifier 22. Furthermore, the acquisition of information by the acquisition unit 11 is not limited to direct user input; it can also be read from a storage device specified by the user. This storage device can be, for example, a removable memory card or a server device connected to the status control device 10 via a network. When acquiring information from a server device, the acquisition unit 11 utilizes the communication unit 106. Moreover, the acquisition unit 11 stores the acquired information in the storage unit 12. In the status control device 10, the acquisition unit 11 is an example of an acquisition unit that acquires the setting value that should be set in the memory of the servo amplifier, containing a value different from the input to the servo amplifier used to drive the servo motor.

[0055] The storage unit 12 is mainly implemented by at least one of the main storage unit 102 and the auxiliary storage unit 103. The storage unit 12 stores information including the setting values ​​obtained by the acquisition unit 11.

[0056] The receiving control unit 13 is primarily implemented through the coordinated operation of the processor 101 and the communication unit 106. Based on information read from the storage unit 12, the receiving control unit 13 sends an execution instruction of the instruction program stored in the controller 21 to the controller 21, thereby causing the servo amplifier 22 to receive the instruction. Specifically, the receiving control unit 13 sends an execution instruction to the controller 21 in either a processing sequence where the timing for setting a setpoint corresponds to manual input by the user, or a processing sequence where the setting corresponds to the fulfillment of a pre-specified condition. In the state control device 10, the receiving control unit 13 is an example of a receiving control unit, which causes the controller to send instructions to the servo amplifier, thereby causing the servo amplifier to receive the instructions.

[0057] The status control unit 14 is mainly implemented through the coordinated operation of the processor 101 and the communication unit 106. The status control unit 14 sets the setpoint value read from the storage unit 12 into the servo amplifier 22. Furthermore, when conditions are specified for setting the setpoint value, the status control unit 14 monitors whether the conditions are met. When the conditions are detected as met, it writes information indicating that the conditions are met into the storage unit 12 and notifies the receiving control unit 13 of the condition's fulfillment. In the status control device 10, the status control unit 14 is an example of a status control unit, which controls the status of the servo amplifier by setting the setpoint value obtained by the acquisition unit into the servo amplifier, which operates according to received instructions.

[0058] Next, regarding the state control processing performed by the state control device 10, using Figure 5 Please provide an explanation. Figure 5 The state control process shown begins upon user input of a start indication. This state control process is equivalent to an example of a state control method executed by the state control device 10. Furthermore, Figure 5 The state control process shown is an example, and the content and order of the steps included in the state control process can be changed arbitrarily.

[0059] In the status control processing, the acquisition unit 11 acquires the setting value specified by the user (step S1). The acquired setting value can be one or more. In addition, the acquisition unit 11 can read a list of preset setting values ​​corresponding to the status mode of the servo amplifier 22 from the storage unit 12 and display it to the user via the output unit 105, thereby acquiring the setting value specified by the user.

[0060] Next, the processor 101 of the state control device 10 determines whether the setting time for setting the set value should be set manually by the user (step S2). Specifically, it refers to the storage unit 12 to determine whether information indicating that the setting time for setting the set value should be set manually has been predetermined.

[0061] If the timing setting is determined to be manual (step S2; Yes), the acquisition unit 11 acquires the transmission instruction input by the user, and the receiving control unit 13 causes the controller 21 to start transmitting instructions according to the transmission instruction (step S3). Specifically, the receiving control unit 13 generates an instruction to cause the controller 21 to execute the instruction program and sends the generated instruction to the controller 21. Thus, the transmission of instructions through the controller 21 begins from the timing of the user input transmission instruction, and the operation of the servo amplifier 22 according to the instructions begins.

[0062] Next, the acquisition unit 11 acquires the setting instruction of the setting value input by the user (step S4). Furthermore, the status control unit 14 sets the setting value acquired in step S1 to the servo amplifier 22 (step S5). Thus, at the timing of the user input setting instruction, the setting value is written to the memory 221 of the servo amplifier 22. Then, the status control process ends.

[0063] If it is determined in step S2 that the timing setting is not manual (step S2; No), the acquisition unit 11 obtains condition information indicating the conditions for setting the timing from the user (step S6). The timing setting condition is, for example, when the speed of the rotation axis of the servo motor 23 exceeds a threshold. The condition information indicates the content of the condition, the threshold, and the address of the memory 221 that stores the value representing the speed of the rotation axis.

[0064] Next, the status control unit 14 begins monitoring whether the condition is met (step S7). For example, the status control unit 14 refers to the storage area of ​​the address shown in the condition information and repeatedly performs the determination of whether the value stored at that address exceeds the threshold shown in the condition information.

[0065] Next, similar to step S3, the acquisition unit 11 acquires the transmission instruction of the command input by the user, and the receiving control unit 13 causes the controller 21 to start transmitting the command according to the transmission instruction (step S8). As a result, the operation of the servo amplifier 22 according to the command begins.

[0066] Next, the status control unit 14 determines whether the condition is met (step S9). If the condition is not met (step S9; No), the status control unit 14 repeats the determination in step S9. On the other hand, if the condition is met (step S9; Yes), the status control unit 14 sets the setting value in the servo amplifier 22 (step S10). Thus, when the condition is met, the setting value is written to the memory 221 of the servo amplifier 22. Then, the status control process ends.

[0067] As explained above, when the receiving control unit 13 causes the servo amplifier 22 to receive a command, thereby activating the servo amplifier 22, the status control unit 14 sets a setting value to the servo amplifier 22 that is different from the input value used to activate the servo amplifier 22. Therefore, the status of the servo amplifier 22 while it is operating can be directly controlled. This reduces the workload of verifying the operation by controlling the status of the servo amplifier 22. In other words, a debugging environment for the servo amplifier 22 can be easily constructed.

[0068] Furthermore, the acquisition unit 11 acquires condition information indicating that the setpoint should be set to the servo amplifier 22, and the status control unit 14 monitors whether the condition is met. If the condition is met, the setpoint is set to the servo amplifier 22. Therefore, by determining the appropriate condition, the timing for writing the setpoint can be adjusted.

[0069] Furthermore, the receiving control unit 13 sends instructions to the servo amplifier 22 via the controller 21, thereby enabling the servo amplifier 22 to receive instructions. Thus, when generating instructions required to confirm the operation of the servo amplifier 22, the instruction program set in the controller 21 can be utilized. Therefore, instructions can be easily input to the servo amplifier 22.

[0070] Furthermore, if the state control device 10 is applied to an existing servo system including the controller 21, the servo amplifier 22 and the servo motor 23, the servo amplifier 22 can be changed to any state.

[0071] Furthermore, the conditions shown in the condition information can be met in accordance with the instructions from the controller 21, and the status control unit 14 monitors whether the conditions are met by monitoring the instructions sent from the controller 21.

[0072] Implementation method 2.

[0073] Next, regarding Embodiment 2, the description will focus on the differences from Embodiment 1 described above. Furthermore, the same reference numerals will be used for structures that are the same as or equivalent to those in Embodiment 1. In Embodiment 1, the value of the memory 221 is controlled as the state of the servo amplifier 22. However, considering the possibility that noise is added to the commands sent from the controller 21 and received by the servo amplifier 22, controlling the commands received by the servo amplifier 22 allows for more flexible control of its state. An example where the state control device 10 sends commands to the servo amplifier 22 instead of the controller 21 will be described below.

[0074] The state control device 10 involved in this embodiment is as follows: Figure 6 As shown, it has an instruction program 211, which adds noise to the instructions generated by the instruction program 211 and sends them to the servo amplifier 22. That is, the receiving control unit 13 of the state control device 10 is as follows: Figure 7 As shown, the generated command is sent to the servo amplifier 22.

[0075] In the state control process performed by the state control device 10, such as Figure 8 As shown, after step S1, the acquisition unit 11 acquires settings related to the instructions input by the user (step S21). Specifically, the acquisition unit 11 receives new instruction program 211, or a change instruction for an existing instruction program 211, and settings for noise added to the instructions. Here, the acquisition unit 11 can read a predetermined list of items from the storage unit 12 and present it to the user, thereby acquiring the information input by the user.

[0076] Next, the receiving control unit 13 begins generating instructions according to the information obtained in step S21 (step S22). Specifically, the receiving control unit 13 starts the instruction program 211 and begins to generate the instructions to be sent sequentially by adding noise to the output of the instruction program 211. Then, the determination in step S2 is executed.

[0077] If the determination in step S2 is affirmative (step S2; Yes), the acquisition unit 11 acquires the transmission instruction input by the user (step S23). According to this transmission instruction, the receiving control unit 13 begins transmitting the instruction to the servo amplifier 22 (step S24). Thus, the servo amplifier 22 sequentially receives instructions starting from the timing when the user inputs the transmission instruction. Then, after executing steps S4 and S5, the state control process ends.

[0078] If the determination in step S2 is negative (step S2; No), after executing steps S6 and S7, the receiving control unit 13 begins sending commands to the servo amplifier 22 (step S25). Thus, the sequential reception of commands via the servo amplifier 22 begins. Then, steps S9 and S10 are executed, and the status control processing ends.

[0079] As described above, the receiving control unit 13 generates an instruction and sends it to the servo amplifier 22, thereby causing the servo amplifier 22 to receive the instruction. Therefore, the instruction received by the servo amplifier 22 can be set as the control object of the status control unit 14. Thus, the operation verification of the servo amplifier 22 can be performed more flexibly. Specifically, the operation of the servo amplifier 22 can be easily verified even when a noisy instruction is received by the servo amplifier 22.

[0080] Implementation method 3.

[0081] Next, regarding Embodiment 3, the description will focus on the differences from Embodiment 1 described above. Furthermore, structures that are the same as or equivalent to those in Embodiment 1 will be referred to using the same reference numerals. In Embodiment 1, the servo amplifier 22 receives one command, but the servo amplifier 22 sometimes has an addition function; that is, it receives two values ​​as commands and operates according to the value obtained by adding these values. Below, an example will be described where the state control device 10 inputs noise to the servo amplifier 22 in response to commands from the controller 21.

[0082] In the servo amplifier 22 described in this embodiment, such as Figure 9 As shown, a first instruction from the controller 21 and a second instruction from the state control device 10 are input as instructions. The first and second instructions are added in the servo amplifier 22, and the servo amplifier 22 operates according to the instruction obtained by the addition. The state control device 10 generates a second instruction representing a noise value in response to the first instruction sent in the same manner as the instruction from the controller 21 in Embodiment 1, and sends it to the servo amplifier 22. In detail, as... Figure 10 As shown, the receiving control unit 13 causes the controller 21 to send a first instruction and sends a second instruction to the servo amplifier 22, thereby causing the servo amplifier 22 to receive instructions including the first instruction and the second instruction.

[0083] In the state control process performed by the state control device 10, such as Figure 11As shown, after step S1, the acquisition unit 11 acquires the settings related to the second instruction input by the user (step S31). Specifically, the acquisition unit 11 receives the waveform or spectrum and power of the noise. Furthermore, the receiving control unit 13 starts generating the second instruction according to the information acquired in step S31 (step S32). Thus, the generation of the value of the second instruction begins sequentially.

[0084] Next, the acquisition unit 11 acquires the transmission instruction of the second instruction input by the user (step S33). Then, the status control unit 14 enables the summing function of the servo amplifier 22 (step S34). As a result, preparation for processing the value input as the second instruction in the servo amplifier 22 is completed. Furthermore, the receiving control unit 13 begins transmitting the second instruction to the servo amplifier 22 (step S35). Next, the determination in step S2 is performed.

[0085] If the determination in step S2 is affirmative (step S2; Yes), then... Figure 5 Similarly, in step S3, the acquisition unit 11 acquires the transmission instruction of the command input by the user, and the receiving control unit 13 causes the controller 21 to start transmitting the first command according to the transmission instruction (step S36). As a result, the servo amplifier 22 begins to receive the first command and the second command sequentially, and begins to add the first command and the second command sequentially (step S37). Then, after executing steps S4 and S5, the state control processing ends.

[0086] If the determination in step S2 is negative (step S2; No), after executing steps S6 and S7, and... Figure 5 Similarly, in step S8, the acquisition unit 11 acquires the transmission instruction of the command input by the user, and the receiving control unit 13 causes the controller 21 to start transmitting the first instruction according to the transmission instruction (step S38). As a result, the servo amplifier 22 begins to successively add the first instruction and the second instruction (step S39). Then, steps S9 and S10 are executed, and the state control process ends.

[0087] As explained above, the servo amplifier 22 operates according to the value obtained by adding the first value (as a first instruction) to the second value (as a second instruction). The receiving control unit 13 causes the controller 21 to send the first instruction to the servo amplifier 22, generate the second instruction, and send it to the servo amplifier 22, thereby enabling the servo amplifier 22 to receive the instruction. Therefore, the operation of the servo amplifier 22 can be flexibly confirmed using its addition function.

[0088] Implementation method 4.

[0089] Next, regarding Embodiment 4, the explanation will focus on the differences from Embodiment 1 described above. Furthermore, the same reference numerals will be used for structures that are the same as or equivalent to those in Embodiment 1. In Embodiment 1, a setting value was set for the servo amplifier 22, which operates based on instructions sent from the controller 21. Here, if the controller 21 can send the same instructions as in the past, the state of the servo amplifier 22 based on those instructions is reproduced. However, in cases where the same instructions are sent as in the past, not limited to situations where the instruction program in the controller 21 has changed or the controller 21 has been replaced, it is preferable to reproduce the state of the servo amplifier 22 in the same way as the past instructions. Below, an example will be described where the instructions for reproducing the state of the servo amplifier 22, which will be recorded over a certain period, are determined through simulation, and the determined instructions are sent to the servo amplifier 22, thereby reproducing the state of the servo amplifier 22.

[0090] The state control device 10 involved in this embodiment is as follows: Figure 12 As shown, data is collected from controller 21 and servo amplifier 22. The data to be collected includes, for example, at least one of the following: instructions to servo amplifier 22, response values ​​from servo amplifier 22 to controller 21, and memory values ​​stored in the memory of servo amplifier 22. Furthermore, these data can be collected in any combination, or all of them can be collected. Additionally, data different from these data can also be included in the collection.

[0091] The state control device 10 includes a virtual servo amplifier 16a that simulates the operation of the servo amplifier 22. The virtual servo amplifier 16a is virtually constructed using program P1 and outputs the result of processing the input according to a predetermined operation model of the servo amplifier 22. Through simulation using this virtual servo amplifier 16a, instructions for reproducing the state of the servo amplifier 22 based on the collected data are determined. These determined instructions are then sent to the servo amplifier 22. Furthermore, the state control device 10 sets a setpoint on the servo amplifier 22 and controls its state.

[0092] Status control device 10, such as Figure 13 As shown, it includes: a log recording unit 15, which collects data from the controller 21 and the servo amplifier 22 to record data; and a simulation unit 16, which performs simulation based on the data collected by the log recording unit 15.

[0093] The log recording unit 15 is mainly implemented by the processor 101 and the communication unit 106. The log recording unit 15 periodically reads various data collected from the controller 21 and the servo amplifier 22 and sequentially stores them in the storage unit 12. In the status control device 10, the log recording unit 15 is an example of a log recording unit, which records at least one log entry from the instruction received by the servo amplifier, the response value from the servo amplifier in response to the source of the instruction, and the read value read from the memory of the servo amplifier.

[0094] The simulation unit 16 is mainly implemented by the processor 101. When the state of the virtual servo amplifier 16a obtained by directly inputting the log-recorded instructions from the log recording unit 15 into the simulation model is equal to the state of the servo amplifier 22 shown by the log-recorded response value and memory value, the simulation unit 16 considers the state of the servo amplifier 22 to be reproduced and determines the log-recorded instructions.

[0095] Furthermore, sometimes the state of the virtual servo amplifier 16a obtained using log-recorded instructions differs from the state of the servo amplifier 22 shown in the log-recorded results. In such cases, the servo amplifier 22 does not operate according to the instructions, thus requiring verification of the servo amplifier 22's operation. In this situation, the simulation unit 16 explores the value of the instruction that reduces the difference between the state of the virtual servo amplifier 16a and the state of the servo amplifier 22. Specifically, the simulation unit 16 inputs the instruction with the changed value into the simulation model and repeats the experiment of using the changed instruction when the difference decreases and discarding the changed instruction when the difference increases. If, as a result of the exploration, the simulation unit 16 discovers an instruction that makes the states equal, i.e., the difference in states disappears, it considers the state of the servo amplifier 22 reproduced and determines the discovered instruction.

[0096] Furthermore, if the instruction that causes the difference to disappear cannot be found even after repeated trials, a setting value for reproducing the state of the servo amplifier 22 can be determined based on the instruction. Specifically, the simulation unit 16 determines the instruction that minimizes the difference among the discovered instructions and a setting value equal to the memory value recorded in the log, thus reproducing the state of the servo amplifier 22. In other words, it determines the instruction that reproduces the state of the servo amplifier 22 as accurately as possible and the setting value that directly changes the value of the memory 221 when the instruction is used, thereby reproducing the state. The simulation unit 16 in the state control device 10 is an example of a simulation unit that simulates the operation of the servo amplifier.

[0097] The instructions and set values ​​determined by the simulation unit 16 are generated by the receiving control unit 13 and sent to the servo amplifier 22. The receiving control unit 13 is an example of a receiving control unit in the state control device 10. It generates instructions for reproducing the state of the servo amplifier shown in the log through the simulation unit and sends the generated instructions to the servo amplifier.

[0098] Next, regarding the state reproduction process that reproduces the past state of the servo amplifier 22 based on the instructions of the controller 21, the following steps will be performed: Figures 14-16 The state reproduction process is a process that causes the servo amplifier 22 to receive instructions for debugging, and is executed as preprocessing for the state control of the servo amplifier 22 performed by the state control unit 14. For example, the state reproduction process replaces... Figure 5 Steps S3 and S8 in the process are executed.

[0099] In state reproduction processing, such as Figure 14 As shown, the log recording process (step S41) will be performed, and the state reproduction process of the servo amplifier will be performed sequentially by sending instructions based on the log recording results (step S42).

[0100] In the log recording process of step S41, such as Figure 15 As shown, the acquisition unit 11 acquires information representing the recording period specified by the user (step S411). The recording period is determined by the start date and time and the end date and time of the log recording.

[0101] Next, the log recording unit 15 sets the recording period (step S412) and starts monitoring (step S413). Specifically, the log recording unit 15 confirms that the data of the log recording object can be accessed and read, and prepares for log recording.

[0102] Next, the receiving control unit 13 sends a command to the controller 21 to begin sending (step S414). Furthermore, the log recording unit 15 determines whether a log recording start trigger has been detected (step S415). A log recording start trigger is the current time being the start date and time shown in the information obtained in step S411. However, the log recording start trigger is not limited to this. For example, a log recording start trigger can be detected when a command to the servo amplifier 22, a response value from the servo amplifier 22, or a value in the memory 221 of the servo amplifier 22 meets conditions specified by the user. User-specified conditions include, for example, values ​​exceeding or falling below a threshold.

[0103] If it is determined that no log recording start trigger has been detected (step S415; No), the log recording unit 15 repeats the determination in step S415. On the other hand, if it is determined that a log recording start trigger has been detected (step S415; Yes), the log recording unit 15 reads various data that are the log recording objects and performs log recording (step S416).

[0104] Next, the logging unit 15 determines whether a log recording end trigger has been detected (step S417). A log recording end trigger is when the current time becomes the end date and time shown in the information obtained in step S411. However, the log recording end trigger is not limited to this; it can also be triggered by conditions specified by the user being met.

[0105] If it is determined that no log recording end trigger has been detected (step S417; No), the log recording unit 15 waits for a certain period of time (step S418) and then repeats step S416 and subsequent processing. Thus, log recording is performed periodically until a log recording end trigger is detected.

[0106] If it is determined that a log recording termination trigger has been detected (step S417; Yes), the log recording unit 15 terminates the reading of various data of the log recording object (step S419), and the processing performed by the state control device 10 returns from log recording processing to... Figure 14 The state reproduction process is shown.

[0107] In the reproduction process of step S42, which is executed after log recording processing, such as Figure 16 As shown, the simulation unit 16 reads the data logged by the log recording unit 15 from the storage unit 12 (step S421). Furthermore, the simulation unit 16 performs a simulation using the data read in step S421 and the virtual servo amplifier 16a (step S422). Specifically, a simulation is performed to determine a series of instructions for reproducing the state of the servo amplifier 22.

[0108] Next, the receiving control unit 13 generates instructions for reproducing the state of the servo amplifier 22 based on the simulation results of step S422 (step S423). Furthermore, the acquisition unit 11 acquires the transmission instruction input by the user regarding the instructions generated in step S423 (step S424), and the receiving control unit 13 begins transmitting instructions to the servo amplifier 22 based on the transmission instruction (step S425). Thus, the state of the servo amplifier 22 based on the instructions is reproduced. Then, the processing performed by the state control device 10 returns from the reproduction processing to... Figure 14 The state reproduction process is shown.

[0109] As described above, the commands for reproducing the state of the servo amplifier 22 are determined through simulation. Therefore, without using the controller 21, the state of the servo amplifier 22, which is equivalent to the state based on past commands from the controller 21, can be reproduced.

[0110] Furthermore, an example of exploring inputs to a model that operates in the same manner as the servo amplifier 22 is illustrated. However, this model can be used to directly guide commands to the servo amplifier 22 based on the log-recorded state of the servo amplifier 22, in cases where the model represents commands to the servo amplifier 22 according to the state of the servo amplifier 22.

[0111] Furthermore, the series of instructions generated by the receiving control unit 13 can be temporarily stored in the storage unit 12, and the state of the servo amplifier 22 can be reproduced at any time using the stored instructions.

[0112] Implementation method 5.

[0113] Next, regarding Embodiment 5, we will focus on the differences from Embodiment 1 described above. Furthermore, structures that are the same as or equivalent to those in Embodiment 1 will be referred to using the same reference numerals. The difference between this embodiment and Embodiment 1 is that, for users who set a setting value in the servo amplifier 22, the state of the servo amplifier 22 is displayed in real-time according to a time sequence.

[0114] The state control device 10 involved in this embodiment is as follows: Figure 17 As shown, it includes: a collection unit 17 that collects data from the controller 21 and the servo amplifier 22; and a display unit 18 that displays the collected data.

[0115] The collection unit 17 is primarily implemented through the coordinated operation of the processor 101 and the communication unit 106. The collection objects collected by the collection unit 17 include, for example, instructions sent from the controller 21, instructions received from the servo amplifier 22, response values ​​from the servo amplifier 22, values ​​read from the memory 221 of the servo amplifier 22, timing information indicating the transmission instruction from the receiving control unit 13 to the controller 21, and timing information indicating the setting of the set value by the status control unit 14. The collection unit 17 periodically reads out this data and outputs it to the display unit 18. In the status control device 10, the collection unit 17 is an example of a collection unit that collects instructions received from the servo amplifier and stored values ​​stored in the servo amplifier.

[0116] The display unit 18 is mainly implemented through the output unit 105. The display unit 18 displays the data collected by the collection unit 17 sequentially using a common time axis. In detail, the display unit 18 is an example of a display unit in the status control device 10, which displays the progress of instructions and stored values ​​collected by the collection unit.

[0117] Next, regarding the display processing performed by the state control device 10 according to this embodiment, using Figure 18 This is explained below. The display processing is performed in parallel with the status control processing.

[0118] In the display processing, the acquisition unit 11 acquires the monitoring start instruction input by the user (step S51). This start instruction is input by the user who wishes to observe the state of the servo amplifier 22 as data.

[0119] Next, the collection unit 17 reads out various data that are the objects of collection (step S52), and the display unit 18 displays the read data to the user in a time sequence (step S53). Then, the acquisition unit 11 determines whether to acquire the end instruction of monitoring input by the user (step S54).

[0120] If no end instruction is received (step S54; No), step S52 and subsequent processing are repeated. Thus, various data are periodically read out, and the displayed content of the screen is updated by displaying the read out data.

[0121] exist Figure 19 An example of screen 18a displayed by display unit 18 is shown. For example... Figure 19 As shown, screen 18a displays the progression of various data collected and the timing of debugging operations input by the user for debugging along a common timeline. Display unit 18 is an example of a display unit that displays the timing of setting instructions in relation to the progression of various data. The setting instructions are input to the acquisition unit 11, which serves as the user interface, to set the setting value in the servo amplifier 22.

[0122] Return to Figure 18 If the process is determined to have received an end instruction in step S54 (step S54; Yes), the process is displayed as finished.

[0123] As described above, the status of the servo amplifier 22 is displayed in a time series in relation to the timing of the debugging, so that the user can easily observe the status of the servo amplifier 22.

[0124] Furthermore, an example of displaying graphics generated by the display unit 18 has been described, but the method is not limited to this. For example, the display unit 18 may also generate a table that displays a summary of collected data in relation to time. The timing of the debugging operation can be shown in this table.

[0125] Furthermore, an example of displaying the data collected by the collection unit 17 in real time by the display unit 18 has been described, but it is not limited to this. For example, the collection unit 17 may also store the collected data in the storage unit 12, and the user may display the progress of the collected data on the display unit 18 at any time interval.

[0126] The embodiments of the present invention have been described above, but the present invention is not limited to the above embodiments.

[0127] Specifically, an example of a servo system 100 including one controller 21, one servo amplifier 22 and one servo motor 23 has been described, but there may be multiple controllers 21, servo amplifiers 22 and servo motors 23.

[0128] Furthermore, multiple servo systems 100 can be configured using a common industrial network 30. Additionally, the above embodiments can be combined arbitrarily.

[0129] The functions of the state control device 10 described in the above embodiments can be implemented by dedicated hardware, or by a conventional computer system.

[0130] For example, by storing program P1 on a computer-readable recording medium such as floppy disk, CD-ROM (Compact Disk Read-Only Memory), DVD (Digital Versatile Disk), or MO (Magneto-Optical disk) and distributing it, and by installing program P1 on a computer, an apparatus for performing the above-mentioned processing can be constructed.

[0131] Alternatively, program P1 can be stored on a storage disk device of a server device on a communication network such as the Internet, and downloaded to a computer, for example, by being superimposed on a carrier wave.

[0132] Alternatively, the above processing can also be achieved by forwarding program P1 through a network, such as the Internet, while simultaneously starting and executing it.

[0133] Furthermore, by having all or part of program P1 executed on a server device, the computer can execute program P1 while sending and receiving information related to the processing via a communication network, thereby enabling the aforementioned processing to be achieved.

[0134] Furthermore, when the above functions are implemented by the OS (Operating System), or through the coordinated action of the OS and applications, only the parts other than the OS can be stored on the medium and distributed, or they can be downloaded to a computer.

[0135] Furthermore, the method of implementing the function of the state control device 10 is not limited to software; it can also be implemented in part or in whole by dedicated hardware or circuitry.

[0136] Various embodiments and modifications can be implemented without departing from the broad spirit and scope of the present invention. Furthermore, the above embodiments are for illustrative purposes only and do not limit the scope of the invention. That is, the scope of the invention is defined not by the embodiments, but by the claims. Moreover, various modifications implemented within the scope of the claims and their equivalents are considered to be within the scope of the present invention.

[0137] Industrial applicability

[0138] This invention is suitable for building a debugging environment for servo amplifiers.

[0139] Explanation of the label

[0140] 10 Status control device, 11 Acquisition unit, 12 Storage unit, 13 Receiving control unit, 14 Status control unit, 15 Log recording unit, 16 Simulation unit, 16a Virtual servo amplifier, 17 Collection unit, 18 Display unit, 18a Screen, 21 Controller, 22 Servo amplifier, 23 Servo motor, 24 Input / output device, 30 Industrial network, 100 Servo system, 101 Processor, 102 Main storage unit, 103 Auxiliary storage unit, 104 Input unit, 105 Output unit, 106 Communication unit, 107 Internal bus, 211 Instruction program, 221 Memory, 222 Processing unit, P1 Program.

Claims

1. A state control program that causes a computer connected to a servo amplifier for driving a servo motor according to received instructions to function as a unit: The acquisition unit, which is a user interface, acquires the setting value that should be set in the memory of the servo amplifier and the address that should be written, as a value containing the instruction that is different from the input to the servo amplifier used to drive the servo motor. A receiving control unit, which causes the servo amplifier to receive the command; and A status control unit controls the status of the servo amplifier by writing the set value obtained by the acquisition unit to the address in the servo amplifier that operates according to the received instructions.

2. The state control program according to claim 1, wherein, The acquiring unit acquires condition information indicating that the set value should be set in the servo amplifier. The state control unit monitors whether the condition is met, and if the condition is met, sets the set value in the servo amplifier.

3. The state control program according to claim 1 or 2, wherein, The computer is connected to the controller of the servo amplifier. The receiving control unit causes the controller to send the instruction to the servo amplifier, thereby enabling the servo amplifier to receive the instruction.

4. The state control program according to claim 1 or 2, wherein, The receiving control unit generates the instruction and sends it to the servo amplifier, thereby causing the servo amplifier to receive the instruction.

5. A state control program that causes a computer connected to a servo amplifier and a controller of the servo amplifier for driving a servo motor according to received instructions to function as a unit that: The acquisition unit acquires a setting value that should be set in the memory of the servo amplifier, which contains the instruction and is different from the input to the servo amplifier used to drive the servo motor. A receiving control unit, which causes the servo amplifier to receive the command; and A status control unit controls the state of the servo amplifier by setting a set value obtained by the acquisition unit to the servo amplifier that operates according to the received instructions. The servo amplifier receives the first instruction and the second instruction as the instructions, and operates according to the instruction obtained by adding the first value of the first instruction and the second value of the second instruction. The receiving control unit causes the controller to send the first instruction to the servo amplifier, generates the second instruction, and sends it to the servo amplifier, thereby causing the servo amplifier to receive the instruction.

6. A state control program that causes a computer connected to a servo amplifier for driving a servo motor according to received instructions to function as a unit: A log recording unit records at least one of the following logs: the instruction received by the servo amplifier, the response value from the servo amplifier in response to the source of the instruction, and the readout value read from the servo amplifier. The simulation unit simulates the operation of the servo amplifier. The acquisition unit acquires a setting value that should be set in the memory of the servo amplifier, which contains the instruction and is different from the input to the servo amplifier used to drive the servo motor. A receiving control unit, through the simulation unit, generates instructions for reproducing the state of the servo amplifier shown in the log, and sends the generated instructions to the servo amplifier, thereby causing the servo amplifier to receive the instructions; and A status control unit sets the set value obtained by the acquisition unit in the servo amplifier that operates according to the received instructions, thereby controlling the status of the servo amplifier.

7. A state control program that causes a computer connected to a servo amplifier for driving a servo motor according to received instructions to function as a unit: The acquisition unit acquires a setting value that should be set in the memory of the servo amplifier, which contains the instruction and is different from the input to the servo amplifier used to drive the servo motor. A receiving control unit, which causes the servo amplifier to receive the command; A state control unit sets the set value obtained by the acquisition unit in the servo amplifier that operates according to the received instructions, thereby controlling the state of the servo amplifier; A collection unit that collects the instructions received by the servo amplifier and the stored values ​​stored in the servo amplifier; as well as The display unit displays the instructions collected by the collection unit and the shift of the stored values. The status control unit sets the set value according to the setting instructions input to the user interface. The display unit displays the timing of the setting instruction in association with the shift.

8. A state control device connected to a servo amplifier that operates according to received instructions. The status control device has: The acquisition unit, which is a user interface, acquires the setting value that should be set in the servo amplifier and the address that should be written, as a value containing the instruction that is different from the input used to make the servo amplifier operate. A receiving control unit, which causes the servo amplifier to receive the command; and The status control unit, in the servo amplifier that operates according to the received instructions, writes the set value obtained by the acquisition unit to the address.

9. A state control device connected to a servo amplifier that operates according to received instructions and a controller for the servo amplifier. The status control device has: The acquisition unit acquires a setting value that should be set in the servo amplifier, which is a value containing the instruction that is different from the input used to make the servo amplifier operate. A receiving control unit, which causes the servo amplifier to receive the command; and A status control unit, which sets the setpoint obtained by the acquisition unit in the servo amplifier that operates according to the received instructions. The servo amplifier receives the first instruction and the second instruction as the instructions, and operates according to the instruction obtained by adding the first value of the first instruction and the second value of the second instruction. The receiving control unit causes the controller to send the first instruction to the servo amplifier, generates the second instruction, and sends it to the servo amplifier, thereby causing the servo amplifier to receive the instruction.

10. A state control device connected to a servo amplifier that operates according to received instructions. The status control device has: A log recording unit records at least one of the following logs: the instruction received by the servo amplifier, the response value from the servo amplifier in response to the source of the instruction, and the readout value read from the servo amplifier. The simulation unit simulates the operation of the servo amplifier. The acquisition unit acquires a setting value that should be set in the servo amplifier, which is a value containing the instruction that is different from the input used to make the servo amplifier operate. A receiving control unit, through the simulation unit, generates instructions for reproducing the state of the servo amplifier shown in the log, and sends the generated instructions to the servo amplifier, thereby causing the servo amplifier to receive the instructions; and A status control unit sets the set value obtained by the acquisition unit in the servo amplifier that operates according to the received instructions.

11. A state control device connected to a servo amplifier that operates according to received instructions. The status control device has: The acquisition unit acquires a setting value that should be set in the servo amplifier, which is a value containing the instruction that is different from the input used to make the servo amplifier operate. A receiving control unit, which causes the servo amplifier to receive the command; A status control unit, which sets the set value obtained by the acquisition unit in the servo amplifier that operates according to the received instructions; A collection unit that collects the instructions received by the servo amplifier and the stored values ​​stored in the servo amplifier; as well as The display unit displays the instructions collected by the collection unit and the shift of the stored values. The status control unit sets the set value according to the setting instructions input to the user interface. The display unit displays the timing of the setting instruction in association with the shift.

12. A state control method, executed by a state control device connected to a servo amplifier that operates according to received instructions. The state control method comprises the following steps: The user interface acquisition unit acquires the setting value that should be set in the servo amplifier and the address that should be written, as a value that contains the instruction and is different from the input used to make the servo amplifier operate. The receiving control unit causes the servo amplifier to receive the command; and In the servo amplifier that operates according to the received instructions, the status control unit writes the set value obtained by the acquisition unit into the address.

13. A state control method, executed by a state control device connected to a servo amplifier that operates according to received instructions and a controller of the servo amplifier. The state control method includes the following steps: The acquisition unit obtains a setting value that should be set in the servo amplifier, which is different from the input used to make the servo amplifier operate, as the value containing the instruction. The receiving control unit causes the servo amplifier to receive the command; and In the servo amplifier that operates according to the received instructions, the status control unit sets the set value obtained by the acquisition unit. The servo amplifier receives the first instruction and the second instruction as the instructions, and operates according to the instruction obtained by adding the first value of the first instruction and the second value of the second instruction. The receiving control unit causes the controller to send the first instruction to the servo amplifier, generates the second instruction, and sends it to the servo amplifier, thereby causing the servo amplifier to receive the instruction.

14. A state control method, executed by a state control device connected to a servo amplifier that operates according to received instructions. The state control method includes the following steps: The log recording unit records at least one of the following logs: the instruction received by the servo amplifier, the response value from the servo amplifier in response to the source of the instruction, and the readout value read from the servo amplifier. The acquisition unit obtains a setting value that should be set in the servo amplifier, which is different from the input used to make the servo amplifier operate, as the value containing the instruction. The receiving control unit, through a simulation unit that simulates the operation of the servo amplifier, generates instructions for reproducing the state of the servo amplifier shown in the log, and sends the generated instructions to the servo amplifier, thereby causing the servo amplifier to receive the instructions; and The status control unit sets the set value obtained by the acquisition unit in the servo amplifier that operates according to the received instructions.

15. A state control method, executed by a state control device connected to a servo amplifier that operates according to received instructions. The state control method includes the following steps: The acquisition unit obtains a setting value that should be set in the servo amplifier, which is different from the input used to make the servo amplifier operate, as the value containing the instruction. The receiving control unit causes the servo amplifier to receive the command; The status control unit sets the set value obtained by the acquisition unit in the servo amplifier that operates according to the received instructions, according to the setting instructions input to the user interface; The collection unit collects the instructions received by the servo amplifier and the stored values ​​stored in the servo amplifier; as well as The display unit displays the timing of the setting instruction in association with the progression of the instructions collected by the collection unit and the stored values.

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