Control parameter adjustment assistance device, control parameter adjustment assistance method, and program

Abstract

A control parameter adjustment assistance device (80) is provided with: a display unit (82); a control unit (84) that causes a display unit (82) to display the first image (101), the second image (102), and the third image (103); and an operation unit (81) that acquires an instruction from a user to a first image (101) that indicates the relationship between the number of times of trial operation and the evaluation value for each number of times of trial operation, and that indicates the relationship between the number of times of trial operation and the evaluation value for each number of times of trial operation. The second image (102) includes values of the control parameter group used in the number of trial operations corresponding to the instruction acquired by the operation unit (81) and values of the control parameter group when the optimal evaluation value is obtained, and the third image (103) includes a waveform of time-series data indicating a positional deviation, in which the values of the control parameter group used in the number of trial operations corresponding to the instruction acquired by the operation unit (81) and the values of the control parameter group when the optimal evaluation value is obtained. The position deviation is the difference between the target position and the observation position of the object which is servo-controlled by the servo motor (30) during the trial of the number of trial times corresponding to the instruction acquired by the operation unit (81).

Description

Technical Field

[0001] The present disclosure relates to a control parameter adjustment auxiliary device, etc. Background Art

[0002] There is known an assisting device that assists a user in determining whether an inspection object such as an automobile or a home appliance is normal or abnormal by obtaining at least one of a feature quantity representing a feature of waveform data obtained when the inspection object is operated and a control parameter for calculating the feature quantity (for example, see Patent Document 1). The assisting device assists a user in determining whether the inspection object is normal or abnormal by displaying a normal waveform and an abnormal waveform.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent No. 3874012 Summary of the invention

[0006] Problem that the invention aims to solve

[0007] However, in the above-mentioned conventional assistance device, the user can only perform comparison based only on waveform data, and therefore there is a problem that it is difficult for the user to receive assistance from the assistance device when making fine adjustments to the object.

[0008] Therefore, an object of the present disclosure is to provide a control parameter adjustment support device or the like that can provide detailed support from a support device when a user makes a fine adjustment on an object.

[0009] Solutions for solving problems

[0010] In order to achieve the above object, a control parameter adjustment assisting device according to one embodiment of the present disclosure assists adjustment of each value of a control parameter group set in a servo control device when the servo control device controls a servo motor, the control parameter adjustment assisting device comprising: a display unit; a control unit that displays at least a first image, a second image, and a third image on the display unit in a single screen; and an operation unit that obtains a user's instruction with respect to the first image, wherein the first image shows a relationship between a number of trials obtained when the servo control device repeatedly performs trials of controlling the servo motor while changing each value of the control parameter group to search for an optimal value of the control parameter group and an evaluation value at each number of trials, the second image includes each value of the control parameter group used in the number of trials corresponding to the instruction obtained by the operation unit and each value of the control parameter group when the optimal evaluation value is obtained, and the third image includes a waveform of time series data indicating a position deviation, wherein the position deviation is a difference between a target position and an observed position of an object to be servo-controlled by the servo motor in the trials of the number of trials corresponding to the instruction obtained by the operation unit.

[0011] In order to achieve the above-mentioned object, a control parameter adjustment assisting method according to one embodiment of the present disclosure is used to assist adjustment of each value of a control parameter group set in a servo control device when the servo control device controls a servo motor, the control parameter adjustment assisting method comprising: a control step of displaying at least a first image, a second image, and a third image on a display unit in one screen; and an operation step of acquiring a user's instruction with respect to the first image, wherein the first image shows a relationship between a number of trials and an evaluation value at each number of trials obtained when searching for an optimal value of the control parameter group by repeatedly performing trials of the servo control device controlling the servo motor while changing each value of the control parameter group, the second image includes each value of the control parameter group used in the number of trials corresponding to the instruction acquired in the operation step and each value of the control parameter group when the optimal evaluation value is obtained, and the third image includes a waveform of time series data indicating a position deviation, wherein the position deviation is a difference between a target position and an observed position of an object to be servo-controlled by the servo motor in the number of trials corresponding to the instruction acquired in the operation step.

[0012] In order to achieve the above object, a program according to one embodiment of the present disclosure is used to cause a computer to execute the steps included in the above control parameter adjustment support method.

[0013] Effects of the Invention

[0014] According to the present disclosure, a control parameter adjustment support device and the like are provided, which can receive detailed support from the support device when a user makes a fine adjustment on an object. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a diagram showing an overview of a production system according to an embodiment.

[0016] Figure 2 It is a block diagram showing the functional structure of the production system involved in the embodiment.

[0017] Figure 3 This is a sequence diagram showing the flow of a trial search for an optimal control parameter group by the production system according to the embodiment.

[0018] Figure 4 The control parameter adjustment assisting device according to the embodiment is shown in FIG. Figure 3 A flowchart of a first display example in which the adjustment result obtained by the search is displayed on the display unit.

[0019] Figure 5 It is shown in Figure 4 FIG. 4 is a diagram showing an example of an image displayed on the display unit by the control unit.

[0020] Figure 6 This is a flowchart showing another example of the control parameter adjustment flow in the control parameter adjustment support device according to the embodiment.

[0021] Figure 7 is shown for illustration purposes only. Figure 6 FIG. 4 is a diagram of a table of calculation examples of relative differences described in FIG.

[0022] Figure 8 It is shown in Figure 6 FIG. 2 is a diagram showing an example of an image displayed on the display unit by the control unit when the answer is “YES” in step S32 of FIG.

[0023] Fig. 9 This is a flowchart showing still another example of the flow of adjusting control parameters in the control parameter adjustment support device according to the embodiment.

[0024] Fig.10 This is a diagram showing an example of an image displayed on the display unit by the control unit when the user registers a servo parameter of interest in advance.

[0025] Fig.11 It is shown in Fig. 9 FIG. 4 is a diagram showing an example of an image displayed on the display unit by the control unit when the answer is “YES” in step S42.

[0026] Fig.12This is a flowchart showing still another example of the flow of adjusting control parameters in the control parameter adjustment support device according to the embodiment.

[0027] Fig.13 It is shown in Fig.12 FIG. 2 is a diagram showing an example of an image displayed on the display unit by the control unit when the answer is “Yes” in step S320.

[0028] Fig.14 This is a flowchart showing a flow of updating the display content of the first image by the control unit every time one trial is completed in the control parameter adjustment support device according to the embodiment. DETAILED DESCRIPTION

[0029] A control parameter adjustment assisting device according to a first aspect of the present disclosure assists adjustment of each value of a control parameter group set in a servo control device when the servo control device controls a servo motor, the control parameter adjustment assisting device comprising: a display unit; a control unit that displays at least a first image, a second image, and a third image on the display unit in a single screen; and an operation unit that obtains a user's instruction with respect to the first image, wherein the first image shows a relationship between a number of trials and an evaluation value at each number of trials obtained when searching for an optimal value of the control parameter group by repeatedly performing trials of the servo control device controlling the servo motor while changing each value of the control parameter group, the second image includes each value of the control parameter group used in the number of trials corresponding to the instruction obtained by the operation unit and each value of the control parameter group when the optimal evaluation value was obtained, and the third image includes a waveform of time series data indicating a position deviation, wherein the position deviation is a difference between a target position and an observed position of an object to be servo-controlled by the servo motor in the trials of the number of trials corresponding to the instruction obtained by the operation unit.

[0030] By having the control unit display the values ​​of the control parameter group of any adjustment result of the driving object selected in the first image and the values ​​of the control parameter group when the best evaluation value is obtained in the second image, the user can compare the values ​​of the control parameter group. In addition, by having the control unit display the adjustment result of any trial number of the driving object selected in the first image in the third image, the user can study the content that cannot be confirmed only by comparing the values ​​of the control parameter group shown in the second image. Thus, the user can compare the values ​​of the control parameter group to study the factors that produce the difference between the adjustment result selected by the user and the best evaluation value. In addition, even if there are multiple best evaluation values, the user can compare the values ​​of the control parameter group, thereby the user can select a more reasonable control parameter group from the perspective of the control stability of the production device. Therefore, the user can receive detailed assistance from the control parameter adjustment auxiliary device.

[0031] In addition, the control parameter adjustment assisting device involved in the second embodiment of the present invention is, according to the control parameter adjustment assisting device involved in the first embodiment, wherein in the second image, the control parameter having the smallest relative difference with the corresponding values ​​of the control parameter group when the optimal evaluation value is obtained among the values ​​of the control parameter group used in the number of trials corresponding to the indication obtained by the operating unit, or the control parameter having the largest relative difference is displayed at a specific display position in the second image, or is displayed in an emphasized manner.

[0032] Thus, the user can easily identify control parameters with small relative differences between the values ​​of the control parameter group in the adjustment result selected by the user and the values ​​of the control parameter group when the best evaluation value is obtained. Therefore, the user can compare the adjustment result selected by the user with the best evaluation value to study the factors that cause the difference. In addition, even if there are multiple best evaluation values, the user can compare the values ​​of the control parameter group, thereby enabling the user to select a more reasonable control parameter group from the perspective of control stability of the production device. Therefore, the user can receive more detailed assistance from the control parameter adjustment auxiliary device.

[0033] In addition, the control parameter adjustment assisting device involved in the third embodiment of the present invention is, according to the control parameter adjustment assisting device involved in the first embodiment or the second embodiment, wherein in the second image, the control parameter groups are displayed in ascending or descending order according to the relative differences between the respective values ​​of the control parameter group used in the number of trials corresponding to the indication obtained by the operating unit and the respective corresponding values ​​of the control parameter group when the optimal evaluation value is obtained.

[0034] Thus, it is easy for the user to identify the control parameters with a large relative difference between the values of the control parameter group of the adjustment result selected by the user and the values of the control parameter group when obtaining the best evaluation value, or the control parameters with a small relative difference. Therefore, the user can compare the adjustment result selected by the user with the best evaluation value to study the factors causing the difference. In addition, even when there are multiple best evaluation values, the user can compare the values of the control parameter group, and thus the user can select a more reasonable control parameter group from the perspective of the control stability of the production device. Therefore, the user can receive more detailed assistance from the control parameter adjustment assistance device.

[0035] In addition, the control parameter adjustment assistance device according to the fourth aspect of the present disclosure is based on the control parameter adjustment assistance device according to the first aspect, in the second image, one or more preselected control parameters in the control parameter group used in the trial number corresponding to the instruction acquired by the operation unit are displayed at a specific display position in the second image, or are displayed in a highlighted manner.

[0036] Thus, it is easy for the user to compare the adjustment result selected by the user with the best evaluation value for the servo parameters of interest pre-registered by the user. Therefore, the user can compare the adjustment result selected by the user with the best evaluation value to study the factors causing the difference. In addition, even when there are multiple best evaluation values, the user can compare the values of the control parameter group, and thus the user can select a more reasonable control parameter group from the perspective of the control stability of the production device. Therefore, the user can receive more detailed assistance from the control parameter adjustment assistance device.

[0037] In addition, the control parameter adjustment assistance device according to the fifth aspect of the present embodiment is based on the control parameter adjustment assistance device according to the first aspect, in the second image, only the control parameters whose difference between the values of the control parameter group used in the trial number corresponding to the instruction acquired by the operation unit and the corresponding values of the control parameter group when obtaining the best evaluation value exceeds a specified value are displayed.

[0038] The control unit displays a table showing only the control parameters exceeding the specified value on the display unit, so it is easy for the user to compare the adjustment result selected by the user with the best evaluation value for this control parameter. Thus, the user can quickly compare the adjustment result selected by the user with the best evaluation value to study the factors causing the difference. In addition, even when there are multiple best evaluation values, the user can compare this control parameter with the best evaluation value, and thus the user can select a more reasonable control parameter group from the perspective of the control stability of the production device. Therefore, the user can receive more detailed assistance from the control parameter adjustment assistance device.

[0039] In addition, the control parameter adjustment auxiliary device involved in the sixth embodiment of the present invention is a control parameter adjustment auxiliary device involved in any one of the first embodiment to the fifth embodiment, wherein the control unit also causes a fourth image to be displayed in the one screen, and the fourth image is used to select the type of waveform to be displayed in the third image at the same time as the time series data.

[0040] Thus, the control unit displays the waveform selected by the user on the third image, so the user can display and confirm only necessary waveform data on the third image.

[0041] In addition, the control parameter adjustment assisting device involved in the seventh embodiment of the present invention is a control parameter adjustment assisting device involved in any one of the first embodiment to the sixth embodiment. When searching for the value of the optimal control parameter group, after a trial is completed, the control unit obtains the number of trials and the evaluation value of the trial, and updates the first image in such a manner that the relationship between the obtained number of trials and the evaluation value is additionally displayed in the first image.

[0042] Thus, each time a trial is completed, the adjustment result obtained by the trial is reflected in the first image. Therefore, even when searching for the optimal control parameter group, the user can confirm the obtained result in real time.

[0043] In addition, a control parameter adjustment assisting method according to an eighth aspect of the present disclosure is used to assist in adjusting each value of a control parameter group set in a servo control device when the servo control device controls a servo motor, the control parameter adjustment assisting method comprising: a control step of displaying at least a first image, a second image, and a third image on a display unit in one screen; and an operation step of acquiring a user's instruction with respect to the first image, wherein the first image shows a relationship between a number of trials and an evaluation value at each number of trials obtained when searching for an optimal value of the control parameter group by repeatedly performing trials of the servo control device controlling the servo motor while changing each value of the control parameter group, the second image includes each value of the control parameter group used in the number of trials corresponding to the instruction acquired in the operation step and each value of the control parameter group when the optimal evaluation value is obtained, and the third image includes a waveform of time series data representing a position deviation, wherein the position deviation is a difference between a target position and an observed position of an object to be servo-controlled by the servo motor in the trials of the number of trials corresponding to the instruction acquired in the operation step.

[0044] In the control step, the values ​​of the control parameter group of any adjustment result of the drive object selected in the first image and the values ​​of the control parameter group when the best evaluation value is obtained are displayed, so that the user can compare the values ​​of the control parameter group. In addition, in the control step, the adjustment result of the drive object selected in the first image at any trial number is displayed in the third image, so that the user can study the content that cannot be confirmed only by comparing the values ​​of the control parameter group shown in the second image. Thus, the user can compare the adjustment result selected by the user with the best evaluation value to study the factors that produce the difference. In addition, even if there are multiple best evaluation values, the user can compare the values ​​of the control parameter group, so that the user can select a more reasonable control parameter group from the perspective of control stability of the production device. Therefore, the user can receive detailed assistance from the control parameter adjustment assistance method.

[0045] In addition, a program according to a ninth aspect of the present disclosure is for causing a computer to execute the steps included in the control parameter adjustment support method according to the eighth aspect.

[0046] According to such a program, the computer displays the values ​​of the control parameter group of any adjustment result of the driving object selected in the first image and the values ​​of the control parameter group when the best evaluation value is obtained, so that the user can compare the values ​​of the control parameter group. In addition, the control unit displays the adjustment result of the driving object selected in the first image at any trial number in the third image, so that the user can study the content that cannot be confirmed only by comparing the values ​​of the control parameter group shown in the second image. Thus, the user can compare the adjustment result selected by the user with the best evaluation value to study the factors that produce the difference. In addition, even if there are multiple best evaluation values, the user can compare the values ​​of the control parameter group, so that the user can select more reasonable control parameters from the perspective of control stability of the production device. Therefore, the user can receive detailed assistance from the computer.

[0047] (Implementation Method)

[0048] The following drawings are used to describe the embodiments of the present disclosure in detail. In addition, the embodiments described below all illustrate a specific example of the present disclosure. The numerical values, structural elements, configuration positions and connection methods of the structural elements, steps, the order of steps, display examples, etc. shown in the following embodiments are examples and are not intended to limit the present disclosure. Therefore, the structural elements in the following embodiments that are not recorded in the independent claims representing the highest concept of the present disclosure are described as arbitrary structural elements. In addition, the figures are not necessarily strictly illustrated. In each figure, the same figure mark is marked for substantially the same structure, and repeated descriptions are omitted or simplified.

[0049] [structure]

[0050] Figure 1 It is a figure which shows the outline of the production system 1 which concerns on embodiment.

[0051] like Figure 1 As shown, the production system 1 is a system for producing articles. The production system 1 includes a production device 10 (an example of an object), a sensor information collection device 70, and a control parameter adjustment auxiliary device 80. The production device 10, the sensor information collection device 70, and the control parameter adjustment auxiliary device 80 are connected via a communication line so as to be able to communicate with each other. The communication implemented by the communication line can be either wired communication or wireless communication.

[0052] The production device 10 is a device for producing products, and is various industrial devices such as an assembly device, a processing device, or a working device installed in a factory, etc. The production device 10 includes a driven object 20 , a servo motor 30 , a servo control device 40 , an encoder 50 , and a sensor 60 .

[0053] The driven object 20 is an object driven by the servo motor 30. For example, when the production device 10 is a mounting device, the driven object 20 is a moving part (head) that mounts electronic components on a substrate (not shown) by moving relative to the substrate.

[0054] The servo motor 30 is a motor that drives the driven object 20. For example, when the production device 10 is a mounting device, the servo motor 30 moves the driven object 20 relative to the substrate.

[0055] The servo control device 40 is, for example, a servo amplifier. The servo control device 40 drives (controls) the servo motor 30 based on the servo information sent from the control parameter adjustment auxiliary device 80, thereby controlling the driving of the driven object 20. The servo information is information including a control parameter group and an action mode. The servo control device 40 uses the control parameter group to control the driven object 20. The control parameter group is a parameter set composed of a plurality of parameters, such as position gain, torque gain, and integral gain. The action mode is an action mode of the driven object 20, such as including the moving distance, maximum speed, acceleration time, and deceleration time of the driven object 20.

[0056] The encoder 50 detects the displacement amount of the servo motor 30 and the like, and generates encoder information indicating the detected displacement amount of the servo motor 30 and the like. The encoder 50 transmits the generated encoder information to the control parameter adjustment support device 80 .

[0057] The sensor 60 detects the position of the driven object 20 and generates sensor information indicating the detected position of the driven object 20 and the like. The sensor 60 is, for example, a camera and transmits the generated sensor information to the sensor information collecting device 70 .

[0058] The sensor information collecting device 70 collects the sensor information generated by the sensor 60. The sensor information collecting device 70 sends the collected sensor information to the control parameter adjustment assisting device 80.

[0059] The control parameter adjustment assisting device 80 is a device that assists in adjusting the values ​​of the control parameter group set in the servo control device 40 when the servo control device 40 controls the servo motor 30. The control parameter adjustment assisting device 80 is, for example, a terminal device such as a personal computer installed in a factory, etc., and is operated by a user. The control parameter adjustment assisting device 80 is used to adjust the above-mentioned control parameter group. The control parameter adjustment assisting device 80 receives encoder information sent from the encoder 50 and sensor information sent from the sensor information collecting device 70. In addition, the control parameter adjustment assisting device 80 adjusts the control parameter group based on the received encoder information and sensor information, and sends servo information including the adjusted control parameter group to the production device 10.

[0060] Figure 2 It is a block diagram showing the functional structure of the production system 1 according to the embodiment.

[0061] like Figure 2 As shown, the servo control device 40 of the production device 10 includes a servo information acquisition unit 41, a servo information output unit 42, a storage unit 43, and a control unit 44 as a functional structure.

[0062] The servo information acquisition unit 41 acquires (receives) servo information transmitted from the control parameter adjustment support device 80. The servo information acquisition unit 41 is implemented by, for example, a communication module or the like.

[0063] The servo information output unit 42 outputs (transmits) the servo information acquired by the servo information acquisition unit 41. The servo information output unit 42 is realized by, for example, a communication module or the like.

[0064] The storage unit 43 stores various information, programs, etc. The storage unit 43 is implemented by, for example, a memory or the like.

[0065] The control unit 44 controls the entire servo control device 40. The control unit 44 is implemented by, for example, a processor, etc. That is, the processor executes a program stored in a memory to perform various functions of the servo control device 40.

[0066] In addition, if Figure 2As shown, the control parameter adjustment support device 80 includes an operation unit 81, a display unit 82, a storage unit 83, a control unit 84, a setting unit 85, an operation result acquisition unit 86, an adjustment unit 87, an adjustment result output unit 88, and a servo information output unit 89 as a functional structure.

[0067] The operation unit 81 accepts user input. Specifically, the operation unit 81 accepts user input of target performance values, setting time, setting number of times, etc. The target performance value is a target numerical value of an indicator related to the performance of the production device 10 (for example, the setting time and vibration of the driven object 20). In addition, the setting time is the time required for the driven object 20 to reach an allowable position from the driving start position to be evaluated as reaching the target position. In addition, the setting time is the setting time of the control parameter pre-entered by the user when adjusting the control parameter. The setting number of times is the number of changes of the control parameter pre-entered by the user when adjusting the control parameter. The operation unit 81 is implemented by, for example, a keyboard and a mouse.

[0068] The display unit 82 displays various information. The display unit 82 is implemented by, for example, a liquid crystal display or the like.

[0069] The storage unit 83 stores various information, programs, etc. The storage unit 83 is implemented by, for example, a memory, etc. In addition, the storage unit 83 may also store a learned model.

[0070] The control unit 84 controls the entire control parameter adjustment support device 80. The control unit 84 is implemented by, for example, a processor, etc. That is, the processor executes various functions of the control parameter adjustment support device 80 by executing a program stored in a memory.

[0071] The setting unit 85 sets the target performance value, the set time, and the set number of times based on the user input received by the operation unit 81. The setting unit 85 is implemented by, for example, a processor or the like.

[0072] The action result acquisition unit 86 acquires the encoder information sent from the encoder 50 and the sensor information sent from the sensor information collection device 70. Then, the action result acquisition unit 86 acquires the action result of the driven object 20 (that is, the action result of the production device 10) based on at least one of the acquired encoder information and sensor information. The action result acquisition unit 86 is implemented by, for example, a communication module.

[0073] The adjustment unit 87 sets one or more adjustment object action groups as the action mode of the driven object 20 when adjusting the control parameter group. Each adjustment object action group includes a plurality of action conditions. The plurality of action conditions include, for example, (a) an action condition for moving the driven object 20 by 1 mm from the driving start position, (b) an action condition for moving the driven object 20 by 5 mm from the driving start position, and (c) an action condition for moving the driven object 20 by 10 mm from the driving start position.

[0074] In addition, the adjustment unit 87 adjusts the control parameter group based on the action result of the driven object 20 acquired by the action result acquisition unit 86 when the driven object 20 is operated in the above-mentioned action mode. Next, the adjustment unit 87 adjusts the control parameter group again based on the action result of the driven object 20 acquired by the action result acquisition unit 86 when the driven object 20 is operated again with the adjusted control parameter group. Then, the adjustment unit 87 searches for the best control parameter group one by one by repeatedly executing the above-mentioned processing. That is, the adjustment unit 87 executes an algorithm for solving the so-called "combination optimization" that searches for a control parameter group that can achieve the desired target performance value from a large number of control parameter groups.

[0075] In addition, the adjustment unit 87 may be configured to adjust the control parameter group based on the action result of the driven object 20 acquired by the action result acquisition unit 86 using the learned model stored in the storage unit 83 when the driven object 20 is operated in the above-mentioned action mode instead of the above-mentioned processing. The learned model is constructed by, for example, performing machine learning using the performance of the production device 10, the encoder information generated by the encoder 50, and the sensor information generated by the sensor 60 as training data. The construction of the theoretical model in machine learning uses, for example, a neural network.

[0076] The adjustment result output unit 88 controls the control unit 84 to output the operation mode set by the adjustment unit 87 and the control parameter group adjusted by the adjustment unit 87. In addition, the adjustment result output unit 88 controls the control unit 84 to output the operation mode set by the adjustment unit 87 and the control parameter group adjusted by the adjustment unit 87 to the display unit 82.

[0077] The servo information output unit 89 outputs (transmits) servo information including the operation mode and control parameter group output by the control unit 84 to the production device 10 .

[0078] [Actions when searching for control parameter groups]

[0079] Figure 3 It is a sequence diagram showing the flow of a trial in which the production system 1 according to the embodiment searches for an optimal control parameter group.

[0080] like Figure 3 As shown, first, the adjustment unit 87 of the control parameter adjustment auxiliary device 80 sets the initial control parameter group and sets the first adjustment target motion group as the initial motion mode of the driven object 20 (step S11). Next, the servo information output unit 89 of the control parameter adjustment auxiliary device 80 outputs the servo information including the initial control parameter group and motion mode (first adjustment target motion group) set by the adjustment unit 87 to the production device 10 (step S12).

[0081] Then, the servo information acquisition unit 41 of the servo control device 40 of the production device 10 acquires the servo information from the control parameter adjustment assisting device 80. The servo information output unit 42 of the servo control device 40 outputs the servo information acquired by the servo information acquisition unit 41 to the control unit 44. The control unit 44 drives (controls) the servo motor 30 based on the servo information output from the servo information output unit 42, thereby controlling the driving of the driven object 20 (step S13). As a result, the driven object 20 performs an operation based on the servo information through the servo motor 30.

[0082] Then, the action result acquisition unit 86 of the control parameter adjustment support device 80 acquires the encoder information sent from the encoder 50 and the sensor information sent from the sensor 60 (i.e., the sensor information collection device 70) (step S14). Thus, the action result acquisition unit 86 acquires the action result of the driven object 20 based on at least one of the acquired encoder information and sensor information (step S15). The action result of the driven object 20 includes, for example, the number of trials for adjusting the control parameter group to successively search for the optimal control parameter group, the evaluation value (setting time) at each trial number, and the like.

[0083] Then, the adjustment unit 87 of the control parameter adjustment auxiliary device 80 adjusts the control parameter group to successively search for the best control parameter group based on the action result of the driven object 20 acquired by the action result acquisition unit 86. In addition, the adjustment unit 87 sets a second adjustment object action group different from the first adjustment object action group as the action mode of the driven object 20. In addition, the adjustment unit 87 may also use the learning model stored in the storage unit 83 instead of the above-mentioned processing to adjust the control parameter group based on the action result of the driven object 20 acquired by the action result acquisition unit 86.

[0084] Then, the servo information output unit 89 of the control parameter adjustment assisting device 80 outputs the servo information including the control parameter group adjusted by the adjustment unit 87 and the operation mode (second adjustment target operation group) set by the adjustment unit 87 to the production device 10 (step S12). Thereafter, steps S12 to S15 are repeatedly executed in the same manner as described above.

[0085] [Example of display of image related to adjustment of control parameter group]

[0086] Figure 4 The control parameter adjustment support device 80 according to the embodiment is shown in FIG. Figure 3 The adjustment result obtained by the search is displayed on the display unit 82 . The adjustment result refers to the operation result of the driven object 20 acquired by the operation result acquisition unit 86 .

[0087] First, the control unit 84 sets the adjustment result of the driven object 20 as the initial display and displays the first image, the second image, and the third image on the display unit 82 (step S20). For example, in the first image, a scatter diagram with the horizontal axis set to the number of trials for adjusting the control parameter group to successively search for the optimal control parameter group and the vertical axis set to the evaluation value (setting time) at each trial number is displayed on the display unit 82. The second image and the third image show information about a trial selected from the first image. In more detail, each value of the control parameter group corresponding to the evaluation value of the first image is displayed in the second image. In addition, the waveform data corresponding to the evaluation value of the first image is displayed in the third image. In addition, a trial selected from the first image is displayed as an initial value in the second image and the third image. Specifically, the information displayed in the second image and the third image can be, for example, either the initially measured evaluation value or the last measured evaluation value.

[0088] Next, the user selects the adjustment result at the time of any trial number of the driven object 20 shown in the scatter diagram (first image) displayed on the display unit 82 (step S21). That is, the user selects a trial from the plurality of trials shown in the first image. Then, the operation unit 81 obtains the trial selected by the user as the user's instruction.

[0089] Next, the control unit 84 displays the values ​​of the control parameter group (second image) and the waveform data (third image) of the adjustment result selected by the user. In addition, the control unit 84 displays the values ​​of the control parameter group and the waveform data when the best evaluation value (evaluation value with the shortest setting time) is obtained in the first image (step S22).

[0090] When the user selects another adjustment result of the driven object 20 ("Yes" in step S23), that is, when the user selects another trial from the multiple trials shown in the first image, the process returns to the above-mentioned step S21. In this case, the user selects another trial from the multiple trials shown in the first image (step S21).

[0091] If the user does not select another adjustment result of the driven object 20 (No in step S23 ), that is, if the user does not select another trial from the multiple trials shown in the first image, the control parameter adjustment support device 80 ends the control parameter adjustment support for the user.

[0092] Figure 5 It is shown in Figure 4 2 is a diagram showing an example of an image displayed on the display unit 82 by the control unit 84.

[0093] like Figure 5 As shown, the control unit 84 displays the first image 101 , the second image 102 , the third image 103 , the fourth image 104 , the fifth image 105 , the additional adjustment button 106 , the save button 107 , and the end button 108 on the display unit 82 on the same screen.

[0094] In the first image 101, a scatter diagram is displayed, in which the horizontal axis is set to the number of trials for adjusting the control parameter group to search for the best control parameter group one by one, and the vertical axis is set to the provisional time at each trial number. In addition, the provisional time at each trial number refers to the evaluation value (setting time) at each trial number. The adjustment result of the driven object 20 shown in the scatter diagram is represented by a white circular mark in the scatter diagram. In addition, the adjustment result of the drive object 20 shown in the scatter diagram with the best evaluation value is represented by a black diamond in the scatter diagram. And, when the user selects the adjustment result at any trial number of the selected driven object 20, the selected adjustment result is represented by a circular mark with a slash in the scatter diagram. In addition, the selected adjustment result is displayed as the current evaluation value. In addition, the solid line shown in the scatter diagram is a line representing the best evaluation value obtained in the trial number so far. In addition, the adjustment result displayed in the scatter diagram can be either the adjustment result previously acquired and stored in the storage unit 83, or the adjustment result acquired in real time by the action result acquisition unit 86.

[0095] In addition, a table showing the provisional time (setting time) and the number of trials of the current evaluation value and the best evaluation value is displayed in the first image 101 .

[0096] In the second image 102, a table showing the values ​​of the control parameter group used in the number of trials corresponding to the instruction acquired by the operation unit 81 and the values ​​of the control parameter group when the best evaluation value is obtained is displayed. In other words, in the second image 102, a table showing the values ​​of the control parameter group of the adjustment results (that is, the current evaluation value) at the arbitrary number of trials of the driven object 20 selected by the user in the first image 101 and the values ​​of the control parameter group when the best evaluation value is obtained is displayed. Figure 5As shown, for example, the left column of the table displays the number of trials and the names of the control parameter groups, the center column of the table displays the number of trials and the values ​​of the control parameter groups when the current evaluation value is obtained, and the right column of the table displays the number of trials and the values ​​of the control parameter groups when the best evaluation value is obtained.

[0097] The control unit 84 displays the values ​​of the control parameter group of any adjustment result of the drive object 20 selected in the first image 101 and the values ​​of the control parameter group when the best evaluation value is obtained in the second image 102, so that the user can compare the values ​​of the control parameter group. Thus, the user can compare the values ​​of the control parameter group to study the factors that cause the difference between the adjustment result selected by the user and the best evaluation value. In addition, even if there are multiple best evaluation values, the user can compare the values ​​of the control parameter group, so that the user can select a more reasonable control parameter group from the viewpoint of control stability of the production device 10.

[0098] The third image 103 displays a waveform of time-series data representing position deviation, which is the difference between the target position and the observed position of the driven object 20 servo-controlled by the servo motor 30 in the trial number corresponding to the instruction acquired by the operation unit 81. In other words, the third image 103 displays a waveform of time-series data representing position deviation, which is the difference between the target position and the observed position of the driven object 20 servo-controlled by the servo motor 30 in any adjustment result of the driven object 20 selected by the user in the first image 101. Figure 5 As shown, for example, in the third image 103, a curve represented by a solid line is displayed, in which the horizontal axis is set to the elapsed time and the vertical axis is set to the evaluation waveform. The value represented by the evaluation waveform shown on the vertical axis is a value representing the position deviation as the difference between the target position and the observed position of the drive object 20 that is servo-controlled by the servo motor 30. Specifically, the servo control device 40 controls the drive of the drive object 20 from the drive start position until the drive object 20 reaches the allowable position that can be evaluated as reaching the target position, thereby obtaining a curve in which the value of the evaluation waveform changes and becomes 0. In addition, in the third image 103, a curve represented by a dotted line is displayed, in which the horizontal axis is set to the elapsed time and the vertical axis is set to the position command speed. The value represented by the position command speed shown on the vertical axis is a value representing the moving speed of the drive object 20 that is servo-controlled by the servo motor 30.

[0099] The control unit 84 displays the adjustment results at any trial number of the driven object 20 selected in the first image 101 in the third image 103, so that the user can study the contents that cannot be confirmed by simply comparing the values ​​of the control parameter group shown in the second image 102. Specifically, by confirming the waveform data shown in the third image 103, the user can evaluate the side with less fluctuation of the waveform data as the further best adjustment result of the driven object 20. Therefore, when a plurality of adjustment results are obtained with the same evaluation value, the user can select the further best control parameter group by comparing the fluctuation of the waveform data.

[0100] The fourth image 104 displays a selection image for the user to select the type of waveform to be displayed at the same time as the time series data in the third image 103. The user can select the curve to be displayed by clicking the check box in the left column of the selection image. In addition, the number of selection items in the selection image can be one or more.

[0101] Thus, the control unit 84 displays the waveform selected by the user on the third image 103 , so that the user can display and confirm only necessary waveform data on the third image 103 .

[0102] The fifth image 105 displays a table of the progress status and the current adjustment conditions. The progress status table displays the time elapsed since the start of adjustment for obtaining the best adjustment result and the number of trials indicating how many times the adjustment has been completed relative to the number of trials determined by the user. In addition, the table of the current adjustment conditions displays the direction of motion, the amount of movement, the maximum speed, and the acceleration / deceleration time of the driven object 20 at the latest number of trials.

[0103] The additional adjustment button 106 is a button for causing the control unit 84 to display an image (not shown) for adding a control parameter group and an operation mode on the display unit 82. That is, when the user clicks the additional adjustment button 106, the control unit 84 displays an image for adding a control parameter group and an operation mode on the display unit 82.

[0104] The save button 107 is a button for causing the control unit 84 to display an image (not shown) for saving the adjustment result displayed on the first image 101 and the data such as the values ​​of the control parameter group when the adjustment result is obtained on the display unit 82. That is, when the user clicks the save button 107, the control unit 84 displays an image for saving the adjustment result displayed on the first image 101 and the data such as the values ​​of the control parameter group when the adjustment result is obtained on the display unit 82.

[0105] The end button 108 is a button for causing the control unit 84 to end the assistance in adjusting the control parameter group for the user. That is, when the user clicks the end button 108, the control unit 84 ends the assistance in adjusting the control parameter group for the user. For example, when the control unit 84 ends the assistance in adjusting the control parameter group for the user, Figure 5 Display of the image shown.

[0106] [Example of display of control parameters based on relative differences between values ​​of control parameters]

[0107] Figure 6 This is a flowchart showing another example of the control parameter adjustment flow in the control parameter adjustment support device 80 according to the embodiment.

[0108] First, the user selects a scatter diagram ( Figure 5 The user selects the adjustment result of the arbitrary trial number of the driving object 20 shown in the first image 101 shown in FIG. 1 (step S31). Figure 5 One trial is selected from the plurality of trials shown in the illustrated first image 101. Then, the operation unit 81 acquires the one trial selected by the user as the user's instruction.

[0109] Next, the user selects whether to display the control parameter with a large (or small) relative difference between the adjustment result selected by the user and the optimal evaluation value at the top or to highlight it (step S32). In addition, regarding the selection of step S32, the storage unit 83 may store information related to step S32 pre-set by the user, and the user does not need to make a selection every time. In other words, the control unit 84 may also be configured to select whether to display the control parameter at the top or to highlight it by reading the information stored in the storage unit 83.

[0110] If the user selects display at the top or highlight display ("Yes" in step S32), the display unit 82 displays the Figure 5 The second image 102 shown shows a table in which control parameters having large (or small) relative differences between the adjustment result selected by the user and the optimal evaluation value are displayed on top or highlighted (step S33 ). Detailed description of the relative difference will be described later.

[0111] If the user does not select display on top or highlight display ("No" in step S32), the display unit 82 displays a table in which the control parameter having a large (or small) relative difference between the adjustment result selected by the user and the optimal evaluation value is not displayed on top or highlighted (that is, in Figure 5 A table of the normal display mode displayed in the second image 102 shown) (step S34).

[0112] Then, when the user selects another adjustment result of the driven object 20 ("Yes" in step S35), that is, when the user selects another adjustment result of the driven object 20, Figure 5 When another trial is selected from among the plurality of trials shown in the first image 101, the process returns to the above-mentioned step S31.

[0113] If the user does not select another adjustment result of the driven object 20 ("No" in step S35), that is, if the user does not select another adjustment result of the driven object 20, Figure 5 When another trial is selected from among the plurality of trials shown in the first image 101 , the control parameter adjustment support device 80 ends the support for the user to adjust the control parameter.

[0114] Figure 7 is shown for illustration purposes only. Figure 6 FIG. 4 is a diagram of a table of calculation examples of relative differences described in FIG.

[0115] Figure 7 The name of the first column from the left is shown with Figure 5 The names in the left column of the second image 102 correspond to the names shown in the second image 102. Figure 7 The current rating value of the second column from the left is shown Figure 5 The current evaluation value of the center column displayed in the second image 102 corresponds to the current evaluation value of the center column displayed in the second image 102. Figure 7 The best evaluation value in the third column from the left is shown Figure 5 The best evaluation value displayed in the right column of the second image 102 corresponds to the best evaluation value.

[0116] Figure 7 The relative differences shown in the fourth column from the left are calculated using Figure 7 The current evaluation value and Figure 7 In addition, in the actual adjustment of the control parameter adjustment auxiliary device 80, the optimal evaluation value is calculated using Figure 5 The adjustment unit 87 calculates the relative difference based on the current evaluation value and the optimal evaluation value shown in the second image 102. Specifically, the adjustment unit 87 calculates the relative difference based on the calculation formula shown in the following formula 1.

[0117] Relative difference = ABS (1-(the value of the control parameter of the adjustment result selected by the user) / (the value of the control parameter when the best evaluation value is obtained)) (Formula 1)

[0118] According to the above formula 1, even when the number of bits of each value is different depending on the control parameter, the control parameters can be compared using the relative difference as an indicator by calculating the ratio. Figure 7As shown, for example, when the adjustment unit 87 calculates the relative difference based on the above formula 1, the control parameter with the largest relative difference is B, and the control parameter with the smallest relative difference is C. In addition, when the value of the control parameter when the best evaluation value is obtained is 0, the adjustment unit 87 does not perform the calculation of the above formula 1. In other words, when the value of the control parameter when the best evaluation value is obtained is 0, the adjustment unit 87 calculates the relative difference of the control parameter whose value is not 0.

[0119] Figure 8 It is shown in Figure 6 2 is a diagram showing an example of an image displayed on the display unit 82 by the control unit 84 when the answer is "YES" in step S32.

[0120] like Figure 8 As shown, a table in which the control parameters are displayed from top to bottom in the order of relative difference from large to small is displayed in the second image 102. In addition, in the second image 102, a table in which the control parameters are displayed from top to bottom in the order of relative difference from small to large may be displayed, and the columns of the names of the control parameters and the values ​​of the control parameters may be inverted in black and white without changing the order of the control parameters for emphasized display.

[0121] According to the above description, the user can easily identify the control parameters with large relative differences between the values ​​of the control parameter group of the adjustment result selected by the user and the values ​​of the control parameter group when the best evaluation value is obtained, or the control parameters with small relative differences. Therefore, the user can compare the adjustment result selected by the user with the best evaluation value to study the factors that produce the difference. In addition, even if there are multiple best evaluation values, the user can compare the values ​​of the control parameter group, thereby enabling the user to select a more reasonable control parameter group from the perspective of control stability of the production device 10.

[0122] [Example of display of control parameters based on focus servo parameters]

[0123] Fig. 9 FIG. 1 is a flowchart showing another example of the control parameter adjustment process in the control parameter adjustment support device 80 according to the embodiment. Fig. 9 Before the flowchart shown in the figure, the servo parameter of interest is registered in the control parameter adjustment auxiliary device 80, and the servo parameter of interest is one or more control parameters pre-selected from the control parameter group used in the number of trials corresponding to the instruction acquired by the operation unit 81. The storage unit 83 stores the registered servo parameter of interest. In addition, the detailed description of the method of registering the servo parameter of interest will be described later.

[0124] First, the user selects a scatter diagram ( Figure 5 The user selects the adjustment result of the arbitrary trial number of the driving object 20 shown in the first image shown in FIG. 1 (step S41). Figure 5 One trial is selected from the plurality of trials shown in the illustrated first image 101. Then, the operation unit 81 acquires the one trial selected by the user as the user's instruction.

[0125] Next, the control unit 84 determines whether the servo parameter of interest is set (that is, registered) in advance (step S42 ).

[0126] When the control unit 84 determines that the servo parameter of interest has been set ("Yes" in step S42), the display unit 82 displays the servo parameter of interest. Figure 5 In the second image shown, a table is displayed in which the registered servo parameter of interest is displayed on top or highlighted (step S43).

[0127] When the control unit 84 determines that the servo parameter of interest has not been set (No in step S42), the display unit 82 displays a table without displaying the registered servo parameter of interest at the top or emphasizing it (that is, in the Figure 5 A table of the normal display mode displayed in the second image 102 shown) (step S44).

[0128] Then, when the user selects another adjustment result of the driven object 20 ("Yes" in step S45), that is, when the user selects another adjustment result of the driven object 20, Figure 5 When another trial is selected from the plurality of trials shown in the first image, the process returns to the above-mentioned step S41.

[0129] If the user does not select another adjustment result of the driven object 20 (No in step S45), that is, if the user does not select another adjustment result of the driven object 20, Figure 5 When another trial is selected from among the plurality of trials shown in the first image, the control parameter adjustment support device 80 ends the support for the user to adjust the control parameters.

[0130] Fig.10 1 is a diagram showing an example of an image displayed on the display unit 82 by the control unit 84 when the user registers a servo parameter of interest in advance.

[0131] like Fig.10 As shown in FIG. 1 , before the adjustment unit 87 starts adjusting the optimal control parameter group, the user registers the servo parameter of interest in the setting image displayed on the display unit 82. The setting image displays a table in which the names of the control parameters are arranged in the right column and the check boxes are arranged in the left column. The user selects the check box corresponding to the control parameter of interest from the displayed control parameters. The number of registered servo parameters of interest may be one or more. For example, Fig.10As shown in FIG. 1 , the user selects “vibration reduction filter switching selection”, “first vibration reduction frequency” and “command smoothing filter”. Thus, the operation unit 81 accepts the selection of the control parameter, and the control unit 84 registers the control parameter as the servo parameter of interest. In addition, the control unit 84 stores the servo parameter of interest in the storage unit 83.

[0132] In addition, a return button 111 , a save button 112 , and a next button 113 are displayed in the setting image.

[0133] The return button 111 is a button for causing the control unit 84 to change from the above-mentioned setting image to an image (not shown) for setting a control parameter group and an operation mode. That is, when the user clicks the return button 111, the control unit 84 changes the image displayed on the display unit 82 from the above-mentioned setting image to an image (not shown) for setting a control parameter group and an operation mode.

[0134] The save button 112 is a button for causing the control unit 84 to display an image (not shown) for saving the condition of the servo parameter of interest registered by the user on the display unit 82. That is, when the user clicks the save button 112, the control unit 84 displays an image for saving the condition of the servo parameter of interest registered by the user on the display unit 82.

[0135] The next button 113 is a button for causing the control unit 84 to start adjusting the optimal control parameter group based on the above-mentioned setting image by the adjustment unit 87. That is, when the user clicks the next button 113, the image displayed on the display unit 82 is changed from the above-mentioned setting image to an image for starting the adjustment of the optimal control parameter by the adjustment unit 87.

[0136] Fig.11 It is shown in Fig. 9 2 is a diagram showing an example of an image displayed on the display unit 82 by the control unit 84 when the answer is "YES" in step S42. Fig.11 It shows that Fig.10 FIG. 8 is a diagram showing an example of display on the display unit 82 when the control parameter registered in is highlighted.

[0137] like Fig.11 As shown, a table in which the columns of the names of the control parameters and the values ​​of the control parameters are highlighted by inverting black and white is displayed in the second image 102. Specifically, a table in which the columns of the names of the control parameters "vibration reduction filter switching selection", "first vibration reduction frequency" and "command smoothing filter" and the columns of the values ​​are highlighted by inverting black and white is displayed in the second image 102. In addition, a table in which the control parameters are displayed from top to bottom in the order of relative difference from large to small may be displayed, or a table in which the control parameters are displayed from top to bottom in the order of relative difference from small to large may be displayed.

[0138] According to the above description, the user can easily compare the adjustment result selected by the user with the best evaluation value for the servo parameter of interest registered in advance by the user. Therefore, the user can compare the adjustment result selected by the user with the best evaluation value to study the factors that cause the difference. In addition, even if there are multiple best evaluation values, the user can compare the values ​​of the control parameter group, thereby enabling the user to select a more reasonable control parameter from the viewpoint of the control stability of the production device 10.

[0139] [Example of display of control parameters based on differences between respective values ​​of control parameters]

[0140] Fig.12 This is a flowchart showing still another example of the flow of adjusting the control parameters in the control parameter adjustment support device 80 according to the embodiment.

[0141] First, the user selects a scatter diagram ( Figure 5 The user selects the adjustment result of the arbitrary trial number of the driving object 20 shown in the first image 101 shown in FIG. 1 (step S310). Figure 5 One trial is selected from the plurality of trials shown in the illustrated first image 101. Then, the operation unit 81 acquires the one trial selected by the user as the user's instruction.

[0142] Next, the user selects whether to display only the control parameters whose differences between the values ​​of the control parameter group used in the adjustment result obtained by the operation unit 81 and the values ​​of the control parameter group when the best evaluation value is obtained exceed the specified value (step S320). In addition, regarding the selection of step S320, when the storage unit 83 stores information related to step S320 preset by the user (that is, whether to display only the control parameters whose differences exceed the specified value), the user does not need to make a selection every time. In other words, the control unit 84 can also determine whether to display only the control parameters whose differences exceed the specified value by reading the information stored in the storage unit 83. In addition, the specified value is set to 0 by default, for example, and the specified value can also be arbitrarily changed by the user.

[0143] If the user selects to display only the control parameters exceeding the specified value ("No" in step S320), the control unit 84 will Figure 5 The table shown in the second image 102 is changed to a table showing only control parameters whose difference from the value obtained when the optimal evaluation value is obtained exceeds the predetermined value, and is displayed on the display unit 82 (step S330).

[0144] If the user does not select to display only the control parameters exceeding the specified value ("Yes" in step S320), the control unit 84 will Figure 5The table in the normal display mode shown in the second image 102 is displayed on the display unit 82 (step S340).

[0145] Then, when the user selects another adjustment result of the driven object 20 ("Yes" in step S350), that is, when the user selects another adjustment result of the driven object 20, Figure 5 When another trial is selected from among the plurality of trials shown in the first image 101, the process returns to the above-mentioned step S31.

[0146] If the user does not select another adjustment result for the driven object 20 ("No" in step S350), that is, if the user does not select another adjustment result for the driven object 20, Figure 5 When another trial is selected from among the plurality of trials shown in the first image 101 , the control parameter adjustment support device 80 ends the support for the user to adjust the control parameter.

[0147] Fig.13 It is shown in Fig.12 FIG. 8 is a diagram showing an example of a display of the display unit 82 when the answer is "yes" in step S320. Fig.13 A selection area 102a having a check box is added to the second image 102 of FIG.

[0148] When the user selects Fig.13 When the selection area 102a shown in FIG. 1 is selected (that is, when the check box is checked), the operation unit 81 accepts the user's instruction to display only the control parameters whose difference exceeds the specified value. Thus, the control unit 84 will display the control parameters from the control unit 81 based on the user's instruction. Figure 5 The display unit 82 displays an image in which the table displayed in the second image 102 is changed to a table displaying only control parameters exceeding the predetermined value.

[0149] Furthermore, when the user selects the selection area 102a again (that is, when the check box is left blank), the operation unit 81 accepts the user's instruction that only the control parameters with differences exceeding the specified value are not displayed. Thus, the control unit 84 changes the table from displaying only the control parameters with differences exceeding the specified value to displaying only the control parameters with differences exceeding the specified value based on the user's instruction. Figure 5 The image behind the table displayed in the second image 102 (that is, the normal display) is displayed on the display unit 82 .

[0150] According to the above description, the control unit 84 displays a table showing only control parameters exceeding the specified value on the display unit 82, so that the user can easily compare the adjustment result selected by the user with the optimal evaluation value for the control parameter. Thus, the user can quickly compare the adjustment result selected by the user with the optimal evaluation value to study the factors that produce the difference. In addition, even if there are multiple optimal evaluation values, the user can compare the control parameter with the optimal evaluation value, thereby enabling the user to select a more reasonable control parameter group from the viewpoint of control stability of the production device 10.

[0151] [Update of the first image]

[0152] Fig.14 This is a flowchart showing a flow of updating the display content of the first image 101 by the control unit 84 every time one trial is completed in the control parameter adjustment support device 80 according to the embodiment.

[0153] First, the control parameter adjustment support device 80 starts 1 to n trials (loop A, step S51).

[0154] Next, the adjustment unit 87 adjusts the control parameters and starts trials to successively search for optimal control parameters (step S52).

[0155] The control unit 84 determines whether one trial is completed (step S53).

[0156] When the control unit 84 determines that one trial has not been completed (No in step S53), the process returns to step S53. The control unit 84 determines again whether one trial has been completed (step S53).

[0157] When the control unit 84 determines that one trial is completed ("Yes" in step S53), the control unit 84 updates the scatter diagram displayed in the first image 101. That is, the control unit 84 displays the newly obtained adjustment result on the first image 101. Figure 5 The scatter diagram shown in the first image 101 is updated in the same manner as shown.

[0158] If the n-time trial is not completed (loop A, step S55), the process returns to step S51 and the updating process is repeated (loop A, steps S51 to S55). If the n-time trial is completed, the control unit 84 ends the updating process of the scatter diagram.

[0159] Thus, every time a trial is completed, the adjustment result obtained by the trial is reflected in the first image 101. Therefore, even when searching for the optimal control parameter group, the user can confirm the obtained result in real time.

[0160] [Effect]

[0161] According to the above description, the control unit 84 displays the values ​​of the control parameter group of any adjustment result of the drive object 20 selected in the first image 101 and the values ​​of the control parameter group when the best evaluation value is obtained in the second image 102, so that the user can compare the values ​​of the control parameter group. In addition, the control unit 84 displays the adjustment result of the drive object 20 selected in the first image 101 at any trial number in the third image 103, so that the user can study the content that cannot be confirmed only by comparing the values ​​of the control parameter group shown in the second image 102. Thus, the user can compare the values ​​of the control parameter group to study the factors that produce the difference between the adjustment result selected by the user and the best evaluation value. In addition, even if there are multiple best evaluation values, the user can compare the values ​​of the control parameter group, so that the user can select a more reasonable control parameter group from the perspective of control stability of the production device 10.

[0162] (Variation Example)

[0163] The control parameter adjustment auxiliary device involved in one or more methods is described above based on the above-mentioned embodiments, but the present disclosure is not limited to the above-mentioned embodiments. As long as it does not deviate from the purpose of the present disclosure, the methods obtained by implementing various modifications thought of by those skilled in the art to the above-mentioned embodiments and the methods constructed by combining the structural elements in different embodiments may also be included in the scope of one or more methods.

[0164] In addition, in the above-mentioned embodiments, each structural element may be formed by dedicated hardware, or implemented by executing a software program suitable for each structural element. Each structural element may also be implemented by a program execution unit such as a CPU or a processor reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory.

[0165] Furthermore, part or all of the functions of the control parameter adjustment support device according to the above-described embodiment may be realized by executing a program on a processor such as a CPU.

[0166] Part or all of the structural elements constituting the above-mentioned devices may also be configured to be composed of an IC card or a single module that can be loaded and unloaded relative to each device. The above-mentioned IC card or module is a computer system composed of a microprocessor, ROM, RAM, etc. The above-mentioned IC card or module may also be configured to include a super-multifunctional LSI. The above-mentioned IC card or module achieves its function by the microprocessor operating according to the computer program. The IC card or module may also have tamper-proof properties.

[0167] Industrial Applicability

[0168] The control parameter adjustment assisting device according to the present disclosure is useful as, for example, a device that assists in adjusting each value of a control parameter group set in a servo control device when the servo control device controls a servo motor.

[0169] Description of Reference Numerals

[0170] 1: production system; 10: production device; 20: driven object; 30: servo motor; 40: servo control device; 41: servo information acquisition unit; 42: servo information output unit; 43: storage unit; 44: control unit; 50: encoder; 60: sensor; 70: sensor information collection device; 80: control parameter adjustment auxiliary device; 81: operation unit; 82: display unit; 83: storage unit; 84: control unit; 85: setting unit; 86: action result acquisition unit; 87: adjustment unit; 88: adjustment result output unit; 89: servo information output unit; 101: first image; 102: second image; 102a: selection area; 103: third image; 104: fourth image; 105: fifth image; 106: additional adjustment button; 107: save button; 108: end button; 111: return button; 112: save button; 113: next button.

Claims

1. A control parameter adjustment assisting device, for assisting in adjusting each value of a control parameter group set in a servo control device when the servo control device controls a servo motor, the control parameter adjustment assisting device comprising: Display unit; a control unit configured to display at least the first image, the second image, and the third image on the display unit in one screen; and an operation unit for acquiring a user's instruction on the first image, in, The first graph shows the relationship between the number of trials and the evaluation value at each number of trials, obtained when searching for the optimal value of the control parameter group by repeatedly performing trials of the servo control device controlling the servo motor while changing each value of the control parameter group. The second image includes each value of the control parameter group used in the number of trials corresponding to the instruction acquired by the operation unit and each value of the control parameter group when the best evaluation value is obtained. The third image includes a waveform of time-series data indicating a position deviation, wherein the position deviation is a difference between a target position and an observed position of an object servo-controlled by the servo motor in a trial of the number of trials corresponding to an instruction acquired by the operation unit.

2. The control parameter adjustment auxiliary device according to claim 1, in, In the second image, the control parameter having the smallest relative difference with the corresponding values ​​of the control parameter group when the optimal evaluation value is obtained, or the control parameter having the largest relative difference among the values ​​of the control parameter group used in the number of trials corresponding to the indication obtained by the operating unit, is displayed at a specific display position in the second image, or is displayed in an emphasized manner.

3. The control parameter adjustment auxiliary device according to claim 2, in, In the second image, control parameter groups are displayed in ascending or descending order of relative differences between respective values ​​of the control parameter group used in the number of trials corresponding to the instruction acquired by the operation unit and respective corresponding values ​​of the control parameter group when the optimal evaluation value was obtained.

4. The control parameter adjustment auxiliary device according to claim 1, in, In the second image, one or more control parameters selected in advance from a control parameter group used for the number of trials corresponding to the instruction acquired by the operation unit are displayed at a specific display position in the second image or displayed in an emphasized manner.

5. The control parameter adjustment auxiliary device according to claim 1, in, In the second image, only control parameters are displayed whose differences between the values ​​of the control parameter group used in the number of trials corresponding to the instruction acquired by the operation unit and the corresponding values ​​of the control parameter group when the optimal evaluation value was obtained exceed a predetermined value.

6. The control parameter adjustment auxiliary device according to claim 1, in, The control unit further causes a fourth image to be displayed on the one screen, the fourth image being used to select a type of waveform to be displayed in the third image at the same time lapse as the time-series data.

7. The control parameter adjustment assisting device according to any one of claims 1 to 6, in, When searching for the optimal control parameter group value, after a trial is completed, the control unit obtains the trial number and evaluation value of the trial, and updates the first image in such a way that the relationship between the obtained trial number and evaluation value is additionally displayed in the first image.

8. A control parameter adjustment assisting method for assisting in adjusting the values ​​of a control parameter group set in a servo control device when the servo control device controls a servo motor, the control parameter adjustment assisting method include: A control step of displaying at least the first image, the second image, and the third image on a display unit in one screen; as well as Operation step: obtaining a user's instruction for the first image, The first image shows the relationship between the number of trials and the evaluation value at each number of trials, obtained when searching for the optimal value of the control parameter group by repeatedly performing trials of the servo control device controlling the servo motor while changing each value of the control parameter group, The second image includes the values ​​of the control parameter group used in the number of trials corresponding to the instruction obtained in the operation step and the values ​​of the control parameter group when the best evaluation value is obtained. The third image includes a waveform of time-series data indicating a position deviation, the position deviation being a difference between a target position and an observed position of an object servo-controlled by the servo motor in a trial of the number of trials corresponding to the instruction acquired in the operation step.

9. A program for causing a computer to execute the steps included in the control parameter adjustment assisting method according to claim 8.

Images