Adjustment assistance system and adjustment assistance method

Abstract

Adjustment of control parameters of a servo control device is effectively performed. An adjustment assistance system (10) is provided with an acquisition unit (number condition acquisition unit (15)) and a notification unit (display unit (12)). The acquisition unit acquires a number condition including at least one of the number of control parameters, which is the number of control parameters, and the number of operation modes, which is the number of operation modes of a target device (production device (20)). The notification unit notifies at least one of the adjustment time, the number of changes, and the number of operations when the control parameter is adjusted by the number condition that is the same as or similar to the acquired number condition in the past when the control parameter is adjusted by the number condition that is the same as or similar to the acquired number condition in the past. In addition, when the control parameter is not adjusted under the number condition which is the same as or similar to the acquired number condition in the past, the notification unit notifies at least one of the predetermined adjustment time, the number of changes, and the number of operations.

Description

Technical Field

[0001] The present disclosure relates to an adjustment assistance system and an adjustment assistance method for adjusting control parameters of a servo control device. Background Art

[0002] Conventionally, there are known adjustment assisting systems that assist in adjusting control parameters of a servo control device that controls a servo motor. For example, Patent Document 1 discloses the following adjustment time measurement method: according to each adjustment step of a program of a control terminal that controls a machine adjustment device, the time from the start to the end of the adjustment step is measured, and the measurement data is recorded according to manual adjustment and automatic adjustment.

[0003] Prior Art Literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 11-248864 Summary of the invention

[0006] However, the adjustment time measuring method of Patent Document 1 is a method of measuring the time taken for adjustment and does not inform how long the adjustment takes. Therefore, the adjustment time measuring method of Patent Document 1 has a problem that the control parameters of the servo control device cannot be adjusted efficiently.

[0007] The present disclosure has been made to solve such a problem, and an object of the present disclosure is to provide an adjustment support system and an adjustment support method capable of efficiently adjusting a control parameter of a servo control device.

[0008] An adjustment support system according to one embodiment of the present disclosure includes an acquisition unit and a notification unit. The acquisition unit acquires a number condition. The number condition includes at least one of the number of control parameters and the number of action modes. The number of control parameters is the number of control parameters used by a servo control device for controlling the action of an object device including a servo motor to control the action of the object device. The number of action modes is the number of action modes of the object device. Based on the number condition acquired by the acquisition unit, the notification unit notifies at least one of the adjustment time required for adjusting the control parameter, the number of changes in the control parameter, and the number of actions of the object device. In the case where the control parameter was adjusted in the past under the number condition that is the same as or similar to the number condition acquired by the acquisition unit, the notification unit notifies at least one of the adjustment time, the number of changes, and the number of actions when the control parameter was adjusted in the past under the number condition that is the same as or similar to the number condition acquired by the acquisition unit. In addition, in a case where the control parameter has not been adjusted in the past under the number condition that is the same as or similar to the number condition acquired by the acquisition unit, the notification unit notifies at least one of the adjustment time, the number of changes, and the number of actions that are predetermined based on at least one of the number of control parameters and the number of action modes.

[0009] The adjustment assisting method according to another embodiment of the present disclosure includes an acquisition step and a notification step. The acquisition step acquires a number condition. The number condition includes at least one of the number of control parameters and the number of action modes. The number of control parameters is the number of control parameters used by a servo control device for controlling the action of an object device including a servo motor to control the action of the object device. The number of action modes is the number of action modes of the object device. The notification step notifies at least one of the adjustment time required for adjusting the control parameter, the number of changes of the control parameter, and the number of actions of the object device based on the number condition acquired by the acquisition step. In the notification step, when the control parameter was adjusted in the past under the number condition that is the same as or similar to the number condition acquired by the acquisition step, at least one of the adjustment time, the number of changes, and the number of actions when the control parameter was adjusted in the past under the number condition that is the same as or similar to the number condition acquired by the acquisition step is notified. In addition, in the notification step, when the control parameter has not been adjusted in the past with the number condition that is the same as or similar to the number condition acquired by the acquisition step, at least one of the adjustment time, the number of changes, and the number of actions predetermined based on at least one of the number of control parameters and the number of action modes is notified.

[0010] According to the present disclosure, it is possible to provide an adjustment support system and an adjustment support method capable of efficiently adjusting a control parameter of a servo control device. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 Schematic diagram showing an adjustment support system and related devices according to an embodiment.

[0012] Figure 2 It is shown Figure 1 Block diagram of the functional structure of the adjustment assistance system and related devices.

[0013] Figure 3 It is a diagram showing an example of a table indicating control parameters.

[0014] Figure 4 This is a diagram showing an example of a table indicating an operation mode.

[0015] Figure 5 This is a diagram showing an example of a table indicating past adjustment history.

[0016] Figure 6 It is shown Figure 1 A sequence diagram of an example of the operation of the adjustment assistance system and related devices.

[0017] Figure 7 It is shown Figure 1 A flow chart of an example of the action of the adjustment assistance system.

[0018] Figure 8 It is shown in Figure 1 FIG. 1 is a diagram of an example of a display of an adjustment assistance system. DETAILED DESCRIPTION

[0019] The following describes the embodiments of the present disclosure. In addition, the embodiments described below all represent a specific example of the present disclosure. Therefore, the numerical values, structural elements, configuration positions and connection methods of the structural elements, and processes and the order of the processes shown in the following embodiments are examples and are not intended to limit the present disclosure. Therefore, among the structural elements in the following embodiments, the structural elements that are not recorded in the independent claims representing the highest concept of the present disclosure are described as arbitrary structural elements.

[0020] In addition, each figure is a schematic diagram and does not necessarily illustrate strictly. In addition, in each figure, the same reference numerals are given to substantially the same structure, and repeated descriptions are omitted or simplified.

[0021] (Implementation Method)

[0022] Figure 1 1 is a schematic diagram showing an adjustment support system 10 and related devices according to an embodiment.

[0023] The adjustment assisting system 10 is a system that assists in adjusting the control parameters. The control parameters are control parameters used by the servo control device 40 to control the operation of the production device 20. For example, the control parameters are position gain, torque gain, or integral gain. For example, the adjustment assisting system 10 is implemented by a personal computer or the like.

[0024] The adjustment support system 10 sends servo information to the servo control device 40. The servo information includes a control parameter and an operation mode of the production device 20. For example, the servo information includes one or more control parameters and one or more operation modes. In addition, the adjustment support system 10 obtains encoder information generated by an encoder 50 of the production device 20 and sensor information generated by a sensor 60 of the production device 20. For example, the encoder information includes an encoder value generated by the encoder 50. In addition, for example, the sensor information includes sensor data generated by the sensor 60.

[0025] The production device 20 is an example of a target device including the servo motor 30. The production device 20 includes the servo motor 30, the servo control device 40, the encoder 50, and the sensor 60. In addition, for example, the production device 20 includes a mounting device, a processing device, or a working device.

[0026] The servo motor 30 operates the production device 20. Specifically, the servo motor 30 operates the production device 20 by moving a moving portion in the production device 20.

[0027] The servo control device 40 controls the operation of the production device 20. Specifically, the servo control device 40 controls the operation of the production device 20 by controlling the servo motor 30. For example, the servo control device 40 controls the servo motor 30 based on the servo information sent by the adjustment support system 10, thereby controlling the operation of the production device 20. For example, the servo control device 40 is a servo amplifier.

[0028] The encoder 50 generates encoder information. As described above, the encoder information includes an encoder value generated by the encoder 50. For example, the encoder value is a value indicating the position of the servo motor 30.

[0029] The sensor 60 generates sensor information. As described above, the sensor information includes sensor data generated by the sensor 60. For example, the sensor data is a value indicating the position of the above-mentioned moving part.

[0030] The sensor information collecting device 70 collects sensor information and transmits the collected sensor information to the adjustment support system 10. For example, the sensor information collecting device 70 is implemented by a personal computer or the like.

[0031] Hereinafter, the adjustment assisting system 10 and related devices will be described in detail.

[0032] Figure 2 It is shown Figure 1 A block diagram of the functional structure of the adjustment assistance system 10 and related devices.

[0033] like Figure 2 As shown, the adjustment support system 10 includes an operation unit 11 , a display unit 12 , a storage unit 13 , a control unit 14 , a number condition acquisition unit 15 , a servo information output unit 16 , an operation result acquisition unit 17 , a learning unit 18 , and a prediction result output unit 19 .

[0034] The operation unit 11 receives an operation performed by a user. For example, the operation unit 11 is implemented by a keyboard and a mouse.

[0035] The display unit 12 displays various information. For example, the display unit 12 is implemented by a display device or the like.

[0036] The storage unit 13 stores various information. For example, the storage unit 13 is implemented by a memory such as a hard disk drive or an SSD memory.

[0037] The control unit 14 controls the adjustment support system 10. Specifically, for example, the control unit 14 controls notification and the like by the display unit 12. For example, the control unit 14 is implemented by a processor and the like.

[0038] The number condition acquisition unit 15 is an example of an acquisition unit that acquires the number condition including at least one of the number of control parameters for controlling the operation of the production device 20 by the servo control device 40 that controls the operation of the production device 20 including the servo motor 30 and the number of operation modes, which is the number of operation modes of the production device 20. For example, the number condition acquisition unit 15 is implemented by a processor or the like.

[0039] As described above, for example, the control parameter is position gain, torque gain, or integral gain, etc. Also, for example, the operation mode is an operation mode of the moving part determined by the moving distance, maximum speed, acceleration time, and deceleration time of the moving part.

[0040] For example, the display unit 12 displays a selection screen for the user to select at least one of the number of control parameters and the number of action modes, and the number condition acquisition unit 15 acquires the number condition including at least one of the number of control parameters and the number of action modes selected in the selection screen displayed on the display unit 12. For example, the display unit 12 displays the following selection screen: Figure 8 to select the number of control parameters, and can select the number of control parameters by moving bar 81 (see Figure 8 to select the number of action modes.

[0041] In addition, for example, the upper limit value and the lower limit value of the number of control parameters and the number of action modes included in the number conditions acquired by the number condition acquisition unit 15 are set. For example, the upper limit value of the number of control parameters is set to 60, the lower limit value of the number of control parameters is set to 4, and the display unit 12 displays a selection screen so that the number of control parameters can be selected within a range of 4 or more and 60 or less. In addition, for example, the upper limit value of the number of action modes is set to 40, the lower limit value of the number of action modes is set to 1, and the display unit 12 displays a selection screen so that the number of action modes can be selected within a range of 1 or more and 40 or less.

[0042] The display unit 12 is an example of a notification unit, and based on the number condition acquired by the number condition acquisition unit 15, the display unit 12 notifies at least one of the adjustment time required for the adjustment of the control parameter, the number of changes in the control parameter, and the number of operations of the production device 20. For example, the display unit 12 displays at least one of the adjustment time required for the adjustment of the control parameter, the number of changes in the control parameter, and the number of operations of the production device 20 on the display screen, thereby notifying at least one of the adjustment time required for the adjustment of the control parameter, the number of changes in the control parameter, and the number of operations of the production device 20. In addition, for example, the display unit 12 may also display the adjustment time required for the adjustment of the control parameter in a graph.

[0043] In the case where the control parameter was adjusted in the past with the same or similar number condition as the number condition acquired by the number condition acquisition unit 15, the display unit 12 notifies at least one of the adjustment time, the number of changes in the control parameter, and the number of operations of the production device 20 when the control parameter was adjusted in the past with the same or similar number condition as the number condition acquired by the number condition acquisition unit 15. For example, at least one of the adjustment time, the number of changes in the control parameter, and the number of operations of the production device 20 when the control parameter was adjusted in the past with the same or similar number condition as the number condition acquired by the number condition acquisition unit 15 is stored in the storage unit 13.

[0044] For example, the adjustment time when the control parameter was adjusted in the past with the same or similar number condition as the number condition acquired by the number condition acquisition unit 15 is the following time: the time when the production device 20 was operated in the past when the control parameter was adjusted with the same or similar number condition as the number condition acquired by the number condition acquisition unit 15. In addition, for example, the number of changes in the control parameter when the control parameter was adjusted in the past with the same or similar number condition as the number condition acquired by the number condition acquisition unit 15 is the following number of times the control parameter was changed in the past when the control parameter was adjusted with the same or similar number condition as the number condition acquired by the number condition acquisition unit 15. In addition, for example, the number of operations of the production device 20 when the control parameter was adjusted in the past with the same or similar number condition as the number condition acquired by the number condition acquisition unit 15 is the following number of times the production device 20 was operated in the past when the control parameter was adjusted with the same or similar number condition as the number condition acquired by the number condition acquisition unit 15.

[0045] For example, when the number of control parameters is A (A is an integer greater than or equal to 1) and the number of operation modes is B (B is an integer greater than or equal to 1), the control parameters are changed A times and the production device 20 is operated A×B times to adjust the control parameters.

[0046] For example, the so-called number condition that is the same as the number condition acquired by the number condition acquisition unit 15 refers to a number condition that includes the same number of control parameters as the number of control parameters included in the number condition acquired by the number condition acquisition unit 15, and includes the same number of action modes as the number of action modes included in the number condition acquired by the number condition acquisition unit 15.

[0047] In addition, for example, the number condition similar to the number condition acquired by the number condition acquisition unit 15 refers to the number condition shown below. That is, it is a number condition that includes the same number of control parameters as the number of control parameters included in the number condition acquired by the number condition acquisition unit 15, and includes a number of action modes different from the number of action modes included in the number condition acquired by the number condition acquisition unit 15. Or it is a number condition that includes a number of control parameters different from the number of control parameters included in the number condition acquired by the number condition acquisition unit 15, and includes the same number of action modes as the number of action modes included in the number condition acquired by the number condition acquisition unit 15.

[0048] In addition, when the control parameter has not been adjusted in the past with the same or similar number condition as the number condition acquired by the number condition acquisition unit 15, the display unit 12 notifies at least one of the adjustment time, the number of changes in the control parameter, and the number of operations of the production device 20 predetermined based on at least one of the number of control parameters and the number of operation modes. For example, at least one of the adjustment time, the number of changes in the control parameter, and the number of operations of the production device 20 predetermined based on at least one of the number of control parameters and the number of operation modes is stored in the storage unit 13. For example, when the number of control parameters is set to A and the number of operation modes is set to B, the adjustment time is set to the operation time of the production device 20 when the production device 20 is operated A×B times, the number of changes in the control parameter is set to A times, and the number of operations of the production device 20 is set to A×B times.

[0049] For example, the servo control device 40 controls the operation of the production device 20 based on the number condition acquired by the number condition acquisition unit 15, and each time the operation of the production device 20 based on the servo control device 40 is completed for a given number of times, the display unit 12 updates at least one of the adjustment time notified, the number of changes in the control parameters notified, and the number of changes in the operation mode notified. For example, when the number of control parameters is A and the number of operation modes is B, the servo control device 40 changes the control parameters A times and operates the production device 20 A×B times. For example, each time the operation of the production device 20 based on the servo control device 40 is completed for a given number of times, the display unit 12 updates the adjustment time notified by subtracting the time required to operate the production device 20 for the given number of times from the currently displayed adjustment time. In addition, for example, each time the operation of the production device 20 based on the servo control device 40 is completed for a given number of times, the display unit 12 updates the number of changes in the control parameters notified by subtracting the number of changes in the control parameters changed during the period of operating the production device 20 for the given number of times from the currently displayed number of changes in the control parameters. For example, each time the production device 20 operates a predetermined number of times by the servo control device 40, the display unit 12 updates the notified operation number of the production device 20 by subtracting the predetermined number of times from the currently displayed operation number of the production device 20. For example, the predetermined number of times is set by the user.

[0050] For example, the display unit 12 updates the notified adjustment time based on the time required to operate the production device 20 a given number of times. For example, each time the operation of the production device 20 based on the servo control device 40 ends a given number of times, the display unit 12 updates the notified adjustment time by subtracting the time required to operate the production device 20 the given number of times from the currently displayed adjustment time.

[0051] In the present embodiment, the display unit 12 is an example of a selection unit, and receives the selection of the priority order for the adjustment time, the number of changes, and the number of actions notified by the display unit 12. For example, the display unit 12 receives the selection of the priority order for the adjustment time, the number of changes, and the number of actions notified by the display unit 12 by displaying a screen for receiving the selection of the priority order for the adjustment time, the number of changes, and the number of actions notified by the display unit 12. For example, when there is no space to display all of the adjustment time, the number of changes, and the number of actions, the display unit 12 preferentially displays the content with a higher priority order among the adjustment time, the number of changes, and the number of actions.

[0052] In addition, in the present embodiment, the display unit 12 is an example of a selection unit, and a selection of whether to notify each of the adjustment time, the number of changes, and the number of actions is received through the display unit 12. For example, the display unit 12 receives the selection of whether to notify each of the adjustment time, the number of changes, and the number of actions through the display unit 12 by displaying a screen for receiving the selection of whether to notify each of the adjustment time, the number of changes, and the number of actions through the display unit 12. For example, the display unit 12 displays the content selected as notification through the display unit 12 among the adjustment time, the number of changes, and the number of actions.

[0053] The servo information output unit 16 outputs servo information. For example, the servo information includes one or more control parameters included in the number condition acquired by the number condition acquisition unit 15, and one or more action modes included in the number condition acquired by the number condition acquisition unit 15. For example, the specific values ​​of the one or more control parameters are set by the user, and the specific values ​​of the one or more action modes are set by the user. For example, the servo information output unit 16 is implemented by a communication module, etc.

[0054] The action result acquisition unit 17 acquires encoder information and sensor information, and acquires the action result of the production device 20 based on at least one of the encoder information and the sensor information. For example, the action result of the production device 20 includes the settling time of the moving part of the production device 20. For example, the action result acquisition unit 17 is implemented by a communication module or the like.

[0055] The learning unit 18 learns the correlation between the control parameter and the action result of the production device 20. Specifically, for example, the learning unit 18 learns the tendency of the change of the action result of the production device 20 accompanying the change of the value of the control parameter. In addition, for example, the learning unit 18 may also learn the correlation between the control parameter, the action mode of the production device 20, and the action result of the production device 20. Specifically, for example, the learning unit 18 may also learn the tendency of the change of the action result of the production device 20 accompanying the change of the value of the control parameter and the action mode of the production device 20. For example, the learning unit 18 performs learning using a neural network.

[0056] The prediction result output unit 19 predicts the control parameter based on the learning result of the learning unit 18, and outputs the prediction result. For example, the prediction result output unit 19 is a learning model that outputs the value of the control parameter when the value of the control parameter and the operation result of the production device 20 are input. For example, the prediction result output unit 19 predicts the value of the control parameter so that the operation result of the production device 20 becomes the desired result using an evolutionary strategy, and outputs it.

[0057] like Figure 2 As shown, the servo control device 40 includes a servo information acquisition section 41 , a servo information output section 42 , a storage section 43 , and a control section 44 .

[0058] The servo information acquisition unit 41 acquires servo information outputted from the adjustment assisting system 10. For example, the servo information acquisition unit 41 is implemented by a communication module or the like.

[0059] The servo information output unit 42 outputs the servo information acquired by the servo information acquisition unit 41. For example, the servo information output unit 42 is implemented by a communication module or the like.

[0060] The storage unit 43 stores various information. For example, the storage unit 43 is implemented by a memory such as a hard disk drive or an SSD memory.

[0061] The control unit 44 controls the servo control device 40. For example, the control unit 44 is implemented by a processor or the like.

[0062] Figure 3 This is a table showing an example of control parameters.

[0063] like Figure 3 As shown, for example, for a plurality of control parameters, parameter No., variable name, adjustment resolution, adjustment range, and initial value are set respectively.

[0064] Figure 4 This is a table showing an example of the operation mode.

[0065] like Figure 4As shown, for each of the plurality of action modes, an action No., a moving distance, a maximum speed, and an acceleration / deceleration time (acceleration time and deceleration time) are set.

[0066] Figure 5 This is a table showing an example of past adjustment history.

[0067] like Figure 5 As shown, for multiple adjustment histories, the history No., time stamp, best evaluation value, control parameter at the best evaluation value, number of control parameters, number of action modes, number of changes, number of actions, and adjustment time are stored respectively.

[0068] For example, it is predetermined that the value of the control parameter is changed by the number of control parameters × 100 times. In this case, for example, when the number of control parameters is A and the number of operation modes is B, the control parameter is changed A × 100 times, the production device 20 is operated A × 100 × B times, and the control parameter is adjusted.

[0069] Figure 6 It is shown Figure 1 A sequence diagram of an example of the operation of the adjustment assist system 10 and related devices.

[0070] like Figure 6 As shown, the adjustment support system 10 sends the control parameters and the operation mode to the servo control device 40 (step S1 ).

[0071] The servo control device 40 controls the operation of the production device 20 based on the control parameters and the operation mode (step S2). Specifically, the control parameters are set for the servo control device 40, and the servo control device 40 controls the operation of the production device 20 by controlling the servo motor 30 so that the production device 20 operates according to the operation mode.

[0072] The adjustment assistance system 10 obtains encoder information and sensor information (step S3 ).

[0073] The adjustment support system 10 acquires the operation result of the production device 20 based on the encoder information and the sensor information (step S4 ).

[0074] In this way, the adjustment support system 10 acquires the operation result of the production device 20 that operates based on the transmitted control parameters and operation mode.

[0075] For example, the above-described processing is repeatedly performed based on at least one of the number of control parameters and the number of operation patterns.

[0076] For example, if the number of control parameters is A and the number of operation modes is B, the control parameters are changed A times, and the production device 20 is operated A×B times. Also, for example, if the number of control parameters is A and the number of operation modes is B, the control parameters are changed A×100 times, and the production device 20 is operated A×100×B times.

[0077] Figure 7 It is shown Figure 1 Flowchart of an example of the operation of the adjustment assist system 10 . Figure 8 It is shown in Figure 1 FIG. 1 is a diagram of an example of a display of the adjustment assistance system 10 .

[0078] like Figure 7 As shown, the number condition acquisition unit 15 acquires the number condition (acquisition step) (step S11). For example, as described above, the number condition acquisition unit 15 acquires the number condition including at least one of the number of control parameters and the number of operation modes selected by the user.

[0079] like Figure 8 As shown, for example, the display unit 12 displays a selection screen for the user to select at least one of the number of control parameters and the number of action modes. The user selects the number of control parameters by sliding the bar 80 for selecting the number of control parameters. In addition, here, the upper limit value of the number of control parameters is set to 60, and the lower limit value of the number of control parameters is set to 4. In addition, the user selects the number of action modes by sliding the bar 81 for selecting the number of action modes. In addition, here, the upper limit value of the number of action modes is set to 40, and the lower limit value of the number of action modes is set to 1. For example, the number condition acquisition unit 15 thus acquires the number condition including at least one of the number of control parameters and the number of action modes selected by the user.

[0080] Return to Figure 7 , the control unit 14 determines whether the control parameter has been adjusted in the past with the same or similar number condition as the number condition acquired by the number condition acquisition unit 15 (step S12). For example, the storage unit 13 stores the past adjustment history of the control parameter. If the past adjustment history involving the number condition that is the same or similar to the number condition acquired by the number condition acquisition unit 15 is stored in the storage unit 13, the control unit 14 determines that the control parameter has been adjusted in the past with the same or similar number condition as the number condition acquired by the number condition acquisition unit 15. On the other hand, if the past adjustment history involving the number condition that is the same or similar to the number condition acquired by the number condition acquisition unit 15 is not stored in the storage unit 13, the control unit 14 determines that the control parameter has not been adjusted in the past with the same or similar number condition as the number condition acquired by the number condition acquisition unit 15.

[0081] When the control unit 14 determines that the control parameter has been adjusted in the past with the same or similar number condition as the number condition acquired by the number condition acquisition unit 15 (Yes in step S12), the control unit 14 extracts at least one of the adjustment time, the number of changes, and the number of actions when the control parameter has been adjusted in the past with the same or similar number condition as the number condition acquired by the number condition acquisition unit 15 (step S13). For example, the control unit 14 extracts at least one of the adjustment time, the number of changes, and the number of actions when the control parameter has been adjusted in the past with the same or similar number condition as the number condition acquired by the number condition acquisition unit 15 from the storage unit 13.

[0082] On the other hand, when the control unit 14 determines that the control parameter has not been adjusted in the past with the same or similar number condition as the number condition acquired by the number condition acquisition unit 15 (No in step S12), it extracts at least one of the adjustment time, the number of changes, and the number of operations predetermined based on at least one of the number of control parameters and the number of operation modes (step S14). For example, the control unit 14 extracts at least one of the adjustment time, the number of changes, and the number of operations predetermined based on at least one of the number of control parameters and the number of operation modes from the storage unit 13.

[0083] The display unit 12 notifies the user of at least one of the adjustment time, the number of changes, and the number of actions extracted by the control unit 14 (notification step) (step S15). For example, in the past, when the control parameter adjustment was performed under the same or similar number conditions as the number conditions acquired by the number condition acquisition unit 15, the display unit 12 notifies the user of at least one of the adjustment time, the number of changes, and the number of actions when the control parameter adjustment was performed under the same or similar number conditions as the number conditions acquired by the number condition acquisition unit 15 in the past. On the other hand, in the past, when the control parameter adjustment was not performed under the same or similar number conditions as the number conditions acquired by the number condition acquisition unit 15, the display unit 12 notifies the user of at least one of the adjustment time, the number of changes, and the number of actions predetermined based on at least one of the number of control parameters and the number of action modes.

[0084] like Figure 8 As shown, for example, the display unit 12 notifies at least one of the adjustment time, the change number and the action number by displaying at least one of the adjustment time, the change number and the action number on a display screen for displaying at least one of the adjustment time, the change number and the action number.

[0085] Here, the display unit 12 receives a selection of whether to notify each of the adjustment time, the number of changes, and the number of actions through the display unit 12. Specifically, whether to notify the adjustment time can be switched by clicking the check box 82, whether to notify the number of changes can be switched by clicking the check box 83, and whether to notify the number of actions can be switched by clicking the check box 84.

[0086] Return to Figure 7 , the control unit 14 determines whether a change in the number condition is received (step S16). For example, if the user has changed the number condition, the control unit 14 determines that a change in the number condition is received. On the other hand, if the user has not changed the number condition, the control unit 14 determines that a change in the number condition is not received.

[0087] When the control unit 14 determines that a change in the number condition has been received (Yes in step S16 ), the number condition acquisition unit 15 acquires the number condition again (acquisition step) (step S11 ).

[0088] On the other hand, when the control unit 14 determines that the change in the number condition has not been received (NO in step S16 ), the processing ends.

[0089] In addition, for example, Figure 8 As shown, by clicking a button 85 for setting the details of the control parameter, it is possible to set a specific type and value of the control parameter, etc. In addition, by clicking a button 86 for setting the details of the operation mode, it is possible to set the operation mode.

[0090] Thus, in a state where the display unit 12 displays at least one of the adjustment time, the number of changes, and the number of operations, the production device 20 can be operated based on the set control parameters and operation mode.

[0091] In this case, for example, the display unit 12 may update at least one of the notified adjustment time, the notified change count, and the notified operation count every time the operation of the production device 20 by the servo control device 40 is completed a predetermined number of times.

[0092] As described above, in the adjustment support system 10, before the actual adjustment of the control parameters is performed, at least one of the adjustment time, the number of changes, and the number of actions can be notified based on at least one of the number of control parameters and the number of action modes, and how much the adjustment of the control parameters will take can be identified based on at least one of the adjustment time, the number of changes, and the number of actions. Thus, before the actual adjustment of the control parameters is performed, measures such as reducing the number of control parameters and at least one of the number of action modes can be taken to shorten the time taken to adjust the control parameters. Therefore, the increase in power consumption required for the adjustment of the control parameters can be suppressed, and the adjustment of the control parameters can be performed efficiently.

[0093] The adjustment support system 10 involved in the embodiment includes an acquisition unit (number condition acquisition unit 15) and a notification unit (display unit 12). The acquisition unit (number condition acquisition unit 15) acquires a number condition including at least one of the number of control parameters and the number of action modes. The number of control parameters is the number of control parameters used by the servo control device 40 for controlling the action of the object device (production device 20) including the servo motor 30 to control the action of the object device (production device 20). The number of action modes is the number of action modes of the object device (production device 20). The notification unit (display unit 12) notifies at least one of the adjustment time required for adjusting the control parameters, the number of changes in the control parameters, and the number of actions of the object device based on the number condition acquired by the acquisition unit (number condition acquisition unit 15). In the case where the control parameter was adjusted in the past with the same or similar number condition as the number condition acquired by the acquisition unit (number condition acquisition unit 15), the notification unit (display unit 12) notifies at least one of the adjustment time, the number of changes, and the number of actions when the control parameter was adjusted in the past with the same or similar number condition as the number condition acquired by the acquisition unit (number condition acquisition unit 15). In addition, in the case where the control parameter was not adjusted in the past with the same or similar number condition as the number condition acquired by the acquisition unit (number condition acquisition unit 15), the notification unit (display unit 12) notifies at least one of the adjustment time, the number of changes, and the number of actions predetermined based on at least one of the number of control parameters and the number of action modes.

[0094] According to this, since at least one of the adjustment time, the number of changes, and the number of actions can be notified based on at least one of the number of control parameters and the number of action modes of the object device, it is possible to recognize how much time is required to adjust the control parameters. Therefore, if it is known that the adjustment of the control parameters takes too much time before the actual adjustment of the control parameters, it is possible to suppress the adjustment of the control parameters from taking too much time by reducing at least one of the number of control parameters and the number of action modes of the object device. Therefore, the adjustment of the control parameters can be performed efficiently.

[0095] In addition, in the adjustment assistance system 10 involved in the implementation mode, there is a display unit 12, which displays a selection screen for a user to select at least one of the number of control parameters and the number of action modes, and an acquisition unit (number condition acquisition unit 15) acquires the number condition including at least one of the number of control parameters and the number of action modes selected in the selection screen.

[0096] According to this, since the user can select at least one of the number of control parameters and the number of operation modes, the control parameters can be adjusted more efficiently.

[0097] In addition, in the adjustment assistance system 10 involved in the embodiment, the servo control device 40 controls the action of the object device (production device 20) based on the number condition acquired by the acquisition unit (number condition acquisition unit 15), and each time the action of the object device (production device 20) based on the servo control device 40 is completed a given number of times, the notification unit (display unit 12) updates at least one of the adjustment time of the notification, the number of changes of the notification, and the number of actions of the notification.

[0098] According to this, since the adjustment time, the number of changes, and the number of operations can be notified with higher accuracy, the control parameters can be adjusted more efficiently.

[0099] Furthermore, in the adjustment support system 10 according to the embodiment, the notification unit (display unit 12 ) updates the notified adjustment time based on the time required to operate the target device (production device 20 ) a predetermined number of times.

[0100] According to this, since the adjustment time can be notified with higher accuracy, the control parameters can be adjusted more efficiently.

[0101] Furthermore, in the adjustment support system 10 according to the embodiment, the notification unit (display unit 12 ) notifies the adjustment time by displaying the adjustment time on the display screen for displaying the adjustment time.

[0102] According to this, since the adjustment time can be notified in a more understandable manner, the control parameters can be adjusted more efficiently.

[0103] In the adjustment support system 10 according to the embodiment, the upper limit value and the lower limit value of each of the number of control parameters and the number of operation modes included in the number condition acquired by the acquisition unit (the number condition acquisition unit 15 ) are set.

[0104] According to this, since the range of the number of control parameters and the number of action modes included in the acquired number conditions can be limited to a certain extent, the adjustment time, number of changes and number of actions can be notified with higher accuracy, and the control parameters can be adjusted more efficiently.

[0105] Furthermore, the adjustment support system 10 according to the embodiment includes a selection unit (display unit 12 ) that receives a selection of a priority order notified by the notification unit (display unit 12 ) with respect to the adjustment time, the number of changes, and the number of operations.

[0106] According to this, since the contents with higher priority among the adjustment time, the number of changes, and the number of operations can be notified preferentially, the control parameters can be adjusted more efficiently.

[0107] The adjustment support system 10 according to the embodiment includes a selection unit (display unit 12 ) that receives a selection of whether to notify the notification unit (display unit 12 ) for each of the adjustment time, the number of changes, and the number of operations.

[0108] According to this, since it is possible to select whether to notify each of the adjustment time, the number of changes, and the number of operations, it is possible to adjust the control parameters more efficiently.

[0109] In the adjustment support system 10 according to the embodiment, the target device (production device 20 ) includes a mounting device, a processing device, or a working device.

[0110] According to this, even when the target device (production device 20 ) includes a mounting device, a processing device, or a working device, it is possible to more efficiently adjust the control parameters.

[0111] In addition, the adjustment assisting method involved in the embodiment includes an acquisition step (step S11) and a notification step (step S15). The acquisition step (step S11) is a step of acquiring a number condition including at least one of the number of control parameters and the number of action modes. The number of control parameters is the number of control parameters for controlling the action of the object device (production device 20) by the servo control device 40 that controls the action of the object device (production device 20) including the servo motor 30. The number of action modes is the number of action modes of the object device (production device 20). The notification step (step S15) is a step of notifying at least one of the adjustment time required for adjusting the control parameters, the number of changes in the control parameters, and the number of actions of the object device (production device 20) based on the number condition acquired by the acquisition step (step S11). In the notification step (step S15), when the control parameter adjustment was performed in the past with the same or similar number of conditions as the number of conditions acquired in the acquisition step (step S11), at least one of the adjustment time, the number of changes, and the number of actions when the control parameter adjustment was performed in the past with the same or similar number of conditions as the number of conditions acquired in the acquisition step is notified. In addition, in the notification step (step S15), when the control parameter adjustment was not performed in the past with the same or similar number of conditions as the number of conditions acquired in the acquisition step (step S11), at least one of the adjustment time, the number of changes, and the number of actions predetermined based on at least one of the number of control parameters and the number of action modes is notified.

[0112] According to this, the adjustment assisting method achieves the same operational effects as those of the adjustment assisting system 10 described above.

[0113] (Other implementations, etc.)

[0114] As described above, the embodiments are described as examples of the technology disclosed in this application. However, the technology disclosed in this application is not limited thereto, and can be applied to embodiments or modified examples in which changes, substitutions, additions, omissions, etc. are appropriately made without departing from the gist of this application.

[0115] In addition, the overall or specific aspects of the present disclosure may also be implemented by a system, device, method, integrated circuit, computer program, or a computer-readable CD-ROM or other recording medium. In addition, the present disclosure may also be implemented by any combination of a system, device, method, integrated circuit, computer program, and recording medium.

[0116] For example, the present disclosure may also be implemented as an adjustment assistance system of the above-mentioned embodiment. In addition, the present disclosure may also be implemented as an adjustment assistance device. In addition, the present disclosure may also be implemented as an adjustment assistance method. In addition, the present disclosure may also be implemented as a program for causing a computer to execute the adjustment assistance method, or may be implemented as a computer-readable non-temporary recording medium having such a program recorded thereon.

[0117] (Note)

[0118] The following techniques are disclosed through the description of the above embodiments and the like.

[0119] (Technique 1)

[0120] An adjustment auxiliary system, comprising:

[0121] an acquisition unit that acquires a number condition including at least one of a control parameter number and an action mode number, wherein the control parameter number is the number of control parameters for a servo control device for controlling an action of an object device including a servo motor to control the action of the object device, and the action mode number is the number of action modes of the object device; and

[0122] a notification unit that, based on the number condition acquired by the acquisition unit, notifies at least one of an adjustment time required for adjusting the control parameter, a number of changes in the control parameter, and a number of operations of the target device,

[0123] The notification unit performs the following processing:

[0124] In a case where the control parameter was adjusted in the past under the number condition that is the same as or similar to the number condition acquired by the acquisition unit, at least one of the adjustment time, the number of changes, and the number of actions when the control parameter was adjusted in the past under the number condition that is the same as or similar to the number condition acquired by the acquisition unit is notified,

[0125] In a case where the control parameters have not been adjusted in the past under the number condition that is the same as or similar to the number condition acquired by the acquisition unit, at least one of the adjustment time, the number of changes, and the number of actions predetermined based on at least one of the number of control parameters and the number of action modes is notified.

[0126] (Technique 2)

[0127] In the adjustment assistance system described in technology 1,

[0128] A display unit is provided as a notification unit, the display unit displaying a selection screen for a user to select at least one of the number of control parameters and the number of operation modes,

[0129] The acquisition unit acquires the number condition including at least one of the number of the control parameters and the number of the operation modes selected on the selection screen.

[0130] (Technique 3)

[0131] In the adjustment assistance system described in technology 1 or 2,

[0132] The servo control device controls the operation of the target device based on the number condition acquired by the acquisition unit.

[0133] The notification unit updates at least one of the notified adjustment time, the notified number of changes, and the notified number of operations every time the operation of the target device by the servo control device is completed a predetermined number of times.

[0134] (Technique 4)

[0135] In the adjustment assistance system described in Technology 3,

[0136] The notification unit updates the notified adjustment time based on a time required to operate the target device the predetermined number of times.

[0137] (Technique 5)

[0138] In the adjustment assistance system described in any one of techniques 1 to 4,

[0139] The notification unit notifies the adjusted time by displaying the adjusted time on a display screen for displaying the adjusted time.

[0140] (Technique 6)

[0141] In the adjustment assistance system described in any one of techniques 1 to 5,

[0142] The upper limit value and the lower limit value of each of the number of control parameters and the number of operation modes included in the number condition acquired by the acquisition unit are set.

[0143] (Technique 7)

[0144] In the adjustment assistance system described in any one of techniques 1 to 6,

[0145] The adjustment support system includes a selection unit that receives a selection of a priority order to be notified by the notification unit with respect to the adjustment time, the number of changes, and the number of operations.

[0146] (Technique 8)

[0147] In the adjustment assistance system described in any one of techniques 1 to 6,

[0148] The adjustment support system includes a selection unit that receives a selection of whether to perform notification by the notification unit for each of the adjustment time, the number of changes, and the number of operations.

[0149] (Technique 9)

[0150] In the adjustment assistance system described in any one of techniques 1 to 8,

[0151] The object device includes an installation device, a processing device or a working device.

[0152] (Technology 10)

[0153] An adjustment auxiliary method, comprising:

[0154] an acquisition step of acquiring a number condition including at least one of a control parameter number and an action mode number, wherein the control parameter number is the number of control parameters for a servo control device for controlling an action of an object device including a servo motor to control the action of the object device, and the action mode number is the number of action modes of the object device; and

[0155] a notification step of notifying at least one of an adjustment time required for adjusting the control parameter, a number of changes in the control parameter, and a number of operations of the object device based on the number condition acquired in the acquisition step,

[0156] In the notification step,

[0157] In a case where the control parameter was adjusted in the past under the number condition that is the same as or similar to the number condition obtained by the obtaining step, at least one of the adjustment time, the number of changes, and the number of actions when the control parameter was adjusted in the past under the number condition that is the same as or similar to the number condition obtained by the obtaining step is notified,

[0158] In a case where the control parameter has not been adjusted in the past with the number condition that is the same as or similar to the number condition acquired by the acquisition step, at least one of the adjustment time, the number of changes, and the number of actions predetermined based on at least one of the number of control parameters and the number of action modes is notified.

[0159] Industrial Applicability

[0160] The adjustment assisting system and the adjustment assisting method according to the present disclosure can be used in a system for assisting adjustment of control parameters of a servo control device, and the like.

[0161] -Explanation of symbols-

[0162] 10 Adjusting the assistance system

[0163] 11 Operation section

[0164] 12 Display unit

[0165] 13 Storage

[0166] 14 Control Unit

[0167] 15. Number Condition Acquisition Section

[0168] 16 Servo information output unit

[0169] 17 Action result acquisition unit

[0170] 18 Learning Department

[0171] 19 Prediction result output section

[0172] 20 Production equipment

[0173] 30 Servo motor

[0174] 40 Servo control device

[0175] 41 Servo information acquisition unit

[0176] 42 Servo information output unit

[0177] 43 Storage

[0178] 44 Control Department

[0179] 50 Encoder

[0180] 60 Sensors

[0181] 70 Sensor information collection device

[0182] Article 80, 81

[0183] 82, 83, 84 check boxes

[0184] 85, 86 buttons.

Claims

1. An adjustment auxiliary system, comprising: an acquisition unit that acquires a number condition including at least one of a control parameter number and an action mode number, wherein the control parameter number is the number of control parameters for a servo control device for controlling an action of an object device including a servo motor to control the action of the object device, and the action mode number is the number of action modes of the object device; and a notification unit that, based on the number condition acquired by the acquisition unit, notifies at least one of an adjustment time required for adjusting the control parameter, a number of changes in the control parameter, and a number of operations of the target device, The notification unit performs the following processing: In a case where the control parameter was adjusted in the past under the number condition that is the same as or similar to the number condition acquired by the acquisition unit, at least one of the adjustment time, the number of changes, and the number of actions when the control parameter was adjusted in the past under the number condition that is the same as or similar to the number condition acquired by the acquisition unit is notified, In a case where the control parameters have not been adjusted in the past under the number condition that is the same as or similar to the number condition acquired by the acquisition unit, at least one of the adjustment time, the number of changes, and the number of actions predetermined based on at least one of the number of control parameters and the number of action modes is notified.

2. The adjustment assistance system according to claim 1, wherein: A display unit is provided as a notification unit, the display unit displaying a selection screen for a user to select at least one of the number of control parameters and the number of operation modes, The acquisition unit acquires the number condition including at least one of the number of the control parameters and the number of the operation modes selected on the selection screen.

3. The adjustment assistance system according to claim 1 or 2, wherein: The servo control device controls the operation of the target device based on the number condition acquired by the acquisition unit. The notification unit updates at least one of the notified adjustment time, the notified number of changes, and the notified number of operations every time the operation of the target device by the servo control device is completed a predetermined number of times.

4. The adjustment assistance system according to claim 3, wherein: The notification unit updates the notified adjustment time based on a time required to operate the target device the predetermined number of times.

5. The adjustment assistance system according to claim 1 or 2, wherein: The notification unit notifies the adjusted time by displaying the adjusted time on a display screen for displaying the adjusted time.

6. The adjustment assistance system according to claim 1 or 2, wherein: The upper limit value and the lower limit value of each of the number of control parameters and the number of operation modes included in the number condition acquired by the acquisition unit are set.

7. The adjustment assistance system according to claim 1 or 2, wherein: The adjustment support system includes a selection unit that receives a selection of a priority order to be notified by the notification unit with respect to the adjustment time, the number of changes, and the number of operations.

8. The adjustment assistance system according to claim 1 or 2, wherein: The adjustment support system includes a selection unit that receives a selection of whether to perform notification by the notification unit for each of the adjustment time, the number of changes, and the number of operations.

9. The adjustment assistance system according to claim 1 or 2, wherein: The object device includes an installation device, a processing device or a working device.

10. An adjustment auxiliary method, comprising: an acquisition step of acquiring a number condition including at least one of a control parameter number and an action mode number, wherein the control parameter number is the number of control parameters for a servo control device for controlling an action of an object device including a servo motor to control the action of the object device, and the action mode number is the number of action modes of the object device; and a notification step of notifying at least one of an adjustment time required for adjusting the control parameter, a number of changes in the control parameter, and a number of operations of the object device based on the number condition acquired in the acquisition step, In the notification step, In a case where the control parameter was adjusted in the past under the number condition that is the same as or similar to the number condition obtained by the obtaining step, at least one of the adjustment time, the number of changes, and the number of actions when the control parameter was adjusted in the past under the number condition that is the same as or similar to the number condition obtained by the obtaining step is notified, In a case where the control parameter has not been adjusted in the past with the number condition that is the same as or similar to the number condition acquired by the acquisition step, at least one of the adjustment time, the number of changes, and the number of actions predetermined based on at least one of the number of control parameters and the number of action modes is notified.

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