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

Abstract

The purpose of the present invention is to allow a user to receive considerable assistance when finely adjusting an object. A control parameter adjustment assistance device (80) is provided with: a display unit (82); a control unit (84) that displays the first image (101) and the second image (110) on a display unit (82); and an operation unit (81) that acquires a first instruction to a user of the first image (101) and a second instruction to a user of the second image (110). The first image (101) includes a graph indicating the relationship between the number of attempts and the evaluation value in each number of attempts. The second image (110) includes a first icon (111a) indicating a plurality of operation conditions used in the number of attempts corresponding to the first instruction acquired by the operation unit (81). The second image (110) includes an operation execution button (113) that accepts an instruction for causing the servo motor (30) to execute an operation using one operation condition corresponding to a second instruction for selecting one operation condition from among the plurality of operation conditions.

Description

Technical Field

[0001] This disclosure relates to auxiliary devices, methods, and procedures for adjusting control parameters. Background Technology

[0002] Currently, production equipment driven by servo motors is widely used in factories and other similar environments. This servo motor drives the production equipment according to servo information, such as motion conditions, sent from a servo control device. These motion conditions include a set of control parameters; however, to enable the production equipment to move to its destination and stop quickly, it is necessary to adjust these control parameters. Therefore, an adjustment device is used to adjust the control parameters set in the motion conditions.

[0003] An adjustment device is known that modifies a set of control parameters set for a specific operating condition. When adjusting a servo control device, it sets the control parameter set used in the servo control device to achieve the optimal adjustment result as determined by the user (see, for example, Patent Document 1). This adjustment device visually displays the relationship between the adjustment time and overshoot as the adjustment result, thereby assisting even users without specialized knowledge or experience with servo control devices in selecting the control parameter set used in the optimal adjustment result based on the relationship between adjustment time and overshoot.

[0004] Prior art literature

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent No. 4964096 Summary of the Invention

[0007] However, in the aforementioned conventional adjustment devices, it is impossible to use a specific operating condition with a set of control parameters previously used in the adjustment to reconfirm the operation of the production device. Therefore, the user cannot reconfirm the operation of the production device, resulting in a problem where the user cannot receive assistance from the adjustment device when making fine adjustments to an object.

[0008] Therefore, the objective of this disclosure is to provide a control parameter adjustment auxiliary device, control parameter adjustment auxiliary method, and program that provide users with thoughtful assistance when making fine adjustments to an object.

[0009] To achieve the above objectives, one aspect of this disclosure relates to a control parameter adjustment assistance device that assists in adjusting the values ​​of a group of control parameters set in a plurality of action conditions in a servo control device when controlling a servo motor. The device has the following structure: Specifically, the control parameter adjustment assistance device according to one aspect of this disclosure includes: a display unit; a control unit that displays a first image and a second image; and an operation unit that acquires a first instruction from a user for the first image and a second instruction from a user for the second image. The first image includes a graph showing the relationship between the number of attempts and the evaluation value in each attempt, obtained during the search for the values ​​of the control parameter group. The search for the values ​​of the control parameter group is achieved by repeatedly attempting to control the servo motor by the servo control device while changing the values ​​of the control parameter group in the plurality of action conditions. The second image includes a first icon showing the plurality of action conditions used in the number of attempts corresponding to the first instruction acquired by the operation unit. Furthermore, the second image includes an action execution button that accepts an instruction to cause the servo motor to perform an action using the one action condition corresponding to the second instruction that selects one action condition from the plurality of action conditions.

[0010] To achieve the above objectives, one aspect of this disclosure relates to a control parameter adjustment assistance method executed by a computer. The computer assists in adjusting the values ​​of various control parameter groups among multiple action conditions set in the servo control device when the servo control device controls a servo motor. The control parameter adjustment assistance method includes the following steps: a control step of displaying a first image and a second image on a display unit; and an acquisition step of acquiring a first instruction from a user for the first image and a second instruction from a user for the second image. The first image contains a graph representing the relationship between the number of attempts and the evaluation values ​​in each attempt, obtained through searching for the values ​​of the control parameter group. The search for the control parameter group values ​​is achieved by repeatedly attempting to control the servo motor by the servo control device while changing the values ​​of the control parameter group among the multiple action conditions. The second image contains the multiple action conditions used in the number of attempts corresponding to the first instruction acquired through the acquisition step. Furthermore, the second image includes an action execution button that accepts an instruction to cause the servo motor to perform an action using the one action condition corresponding to the second instruction that selects one action condition from the plurality of action conditions.

[0011] In order to achieve the above objectives, one aspect of this disclosure relates to a procedure that causes the steps included in the above-described control parameter adjustment auxiliary method to be executed in the computer.

[0012] According to this disclosure, a control parameter adjustment auxiliary device, a control parameter adjustment auxiliary method, and a procedure are provided to provide users with thoughtful assistance when making fine adjustments to an object. Attached Figure Description

[0013] Figure 1 This is a diagram illustrating an overview of the production system involved in the implementation method.

[0014] Figure 2 This is a block diagram illustrating the functional structure of the production system involved in the implementation method.

[0015] Figure 3 This is a sequence diagram illustrating the process by which the production system involved in the implementation attempts to search for optimal control parameters.

[0016] Figure 4 This is a diagram illustrating the process by which the production system involved in the implementation attempts to search for optimal control parameters while increasing operating conditions.

[0017] Figure 5A It shows that the control unit will Figure 4 The adjustment results are shown in the example diagram of the display unit.

[0018] Figure 5B It is shown Figure 5A The image shown is an example of the display (image selection) performed by the display unit after the action confirmation button is clicked.

[0019] Figure 6 It is shown Figure 5B The diagram shows the various display options for the selected image.

[0020] Figure 7 It is shown Figure 6 The image shown in (a) is an example of the selected image display after the first icon is clicked.

[0021] Figure 8A yes Figure 5A or Figure 5B The waveform data is displayed as a magnified view of the waveform data shown in the image.

[0022] Figure 8B It shows the... Figure 8A The diagram shows an example of waveform data that is highlighted under the operating conditions corresponding to the second instruction.

[0023] Figure 9A This indicates that the selected image is set to... Figure 6 The flowchart illustrates an example of the action confirmation process performed by the control parameter adjustment auxiliary device in the implementation of the display mode shown in (a).

[0024] Figure 9B This indicates that the selected image is set to... Figure 6 (b) or Figure 6 The flowchart illustrates an example of the action confirmation process performed by the control parameter adjustment auxiliary device in the implementation of the display mode shown in (c).

[0025] Figure 10 This is a flowchart illustrating an example of the process of displaying waveform data and confirming actions by a control parameter adjustment auxiliary device according to an embodiment. Detailed Implementation

[0026] The first aspect of this disclosure relates to a control parameter adjustment assistance device that assists in adjusting the values ​​of a group of control parameters set in a plurality of action conditions in a servo control device when controlling a servo motor. The device has the following structure: It includes a display unit; a control unit that displays a first image and a second image; and an operation unit that acquires a first instruction from a user for the first image and a second instruction from a user for the second image. The first image contains a graph showing the relationship between the number of attempts and the evaluation value in each attempt, obtained from searching for the values ​​of the control parameter group. The search for the control parameter group values ​​is achieved by repeatedly attempting to control the servo motor by the servo control device while changing the values ​​of the control parameter group in the plurality of action conditions. The second image includes a first icon showing the plurality of action conditions used in the number of attempts corresponding to the first instruction acquired by the operation unit. Furthermore, the second image includes an action execution button that accepts an instruction to cause the servo motor to perform an action using the one action condition corresponding to the second instruction that selects one action condition from the plurality of action conditions.

[0027] According to this structure, users can verify the operation of the production unit under any adjusted conditions. Thus, when multiple optimal evaluation values ​​are obtained through adjustment, users can operate the production unit under the conditions of these optimal evaluation values ​​and determine which evaluation value represents the best adjustment result, considering factors such as abnormal noises or vibrations from the production unit. Therefore, users can receive comprehensive assistance from the control parameter adjustment auxiliary device.

[0028] Furthermore, the control parameter adjustment auxiliary device involved in the second aspect of this disclosure is the control parameter adjustment auxiliary device involved in the first aspect, and the second image also includes: a second icon showing the action condition that was not used in the number of attempts corresponding to the first instruction obtained by the operation unit.

[0029] Based on this structure, users can easily distinguish between the action conditions used and unused in any adjustment result. Therefore, users can receive more comprehensive assistance from the control parameter adjustment aid.

[0030] Furthermore, the control parameter adjustment auxiliary device according to the third aspect of this disclosure is the control parameter adjustment auxiliary device according to the first or second aspect, and includes the following structure. That is, the control unit also displays a third image on the display unit, the third image including a graph showing at least one waveform data measured under the multiple action conditions used in the number of attempts corresponding to the first instruction obtained by the operation unit.

[0031] According to this structure, users can confirm the waveform data of the operating conditions used in any adjustment result. Thus, by comparing the waveform data, users can select operating conditions without operating the production unit under all possible conditions, and confirm the operation of the production unit under the required operating conditions. Therefore, users can confirm the operating conditions under any adjustment result in a short time and receive more comprehensive assistance from the control parameter adjustment auxiliary device.

[0032] Furthermore, the control parameter adjustment auxiliary device according to the fourth aspect of this disclosure is the control parameter adjustment auxiliary device according to the third aspect, and includes the following structure. That is, the second image further includes: a third icon, which selects whether to display the measured waveform data according to each of the plurality of operating conditions. When the second instruction is obtained by the operation unit, the control unit selects in the third icon to display the waveform data measured under the one operating condition corresponding to the second instruction, and emphasizes the waveform data measured under the one operating condition.

[0033] Based on this structure, users can easily confirm the waveform data of the desired action conditions under any adjustment result. Therefore, users can receive more comprehensive assistance from the control parameter adjustment aid.

[0034] Furthermore, the control parameter adjustment auxiliary device according to the fifth aspect of this disclosure is the control parameter adjustment auxiliary device according to the fourth aspect. When the second instruction for selecting one action condition from the plurality of action conditions is deactivated, the control unit deactivates the emphasis display of the waveform data measured under the one action condition.

[0035] According to this structure, the user can de-emphasize the waveform data when confirmation of waveform data under specific operating conditions ends. By de-emphasizing the waveform data after confirmation, the user can easily confirm waveform data under other operating conditions. Therefore, the user can receive more comprehensive assistance from the control parameter adjustment aid.

[0036] Furthermore, the control parameter adjustment auxiliary device according to the sixth aspect of this disclosure is the control parameter adjustment auxiliary device according to any one of the first to fifth aspects, and includes the following structure. That is, when the operation unit receives the second instruction to select one action condition from the plurality of action conditions, the control unit changes the action execution button from the first display mode to the second display mode.

[0037] According to this structure, users can select an action execution button when one action condition is chosen. This allows users to confirm the operation of the production unit based on the selected action condition. Consequently, users can receive more comprehensive assistance from the control parameter adjustment auxiliary device.

[0038] Furthermore, the control parameter adjustment auxiliary device according to the seventh aspect of this disclosure is the control parameter adjustment auxiliary device according to any one of the first to sixth aspects, and includes the following structure. That is, when the operation unit does not receive the second instruction to select one action condition from the plurality of action conditions, or when the operation unit receives the deactivation of the second instruction to select one action condition from the plurality of action conditions, the control unit changes the action execution button from the second display mode to the first display mode.

[0039] According to this structure, the user cannot select the action execution button when the action condition is removed. Therefore, if the user selects an action condition, the control unit displays the action execution button in a selectable manner, allowing the user to clearly understand which action condition the production unit was operating under. Consequently, the user can receive more comprehensive assistance from the control parameter adjustment auxiliary device.

[0040] Furthermore, the control parameter adjustment assistance method disclosed in the eighth aspect is executed by a computer, which assists in adjusting the values ​​of each control parameter group among multiple action conditions set in the servo control device when the servo control device controls the servo motor. The control parameter adjustment assistance method includes the following steps: a control step of displaying a first image and a second image on a display unit; and an acquisition step of acquiring a first instruction from a user for the first image and a second instruction from a user for the second image. The first image contains a graph showing the relationship between the number of attempts and the evaluation value in each attempt, obtained from searching the values ​​of the control parameter group. The search for the values ​​of the control parameter group is achieved by repeatedly attempting to control the servo motor by the servo control device while changing the values ​​of each control parameter group among the multiple action conditions. The second image contains the multiple action conditions used in the number of attempts corresponding to the first instruction acquired through the acquisition step. Furthermore, the second image includes an action execution button that accepts an instruction to cause the servo motor to perform an action using the one action condition corresponding to the second instruction that selects one action condition from the multiple action conditions.

[0041] Based on this configuration, the user can verify the operation of the production unit under any adjusted operating conditions. Therefore, when multiple optimal evaluation values ​​are obtained through adjustment, the user can operate the production unit under the operating conditions of these optimal evaluation values ​​and determine which evaluation value represents the best adjustment result, considering factors such as abnormal noises or vibrations from the production unit. Thus, the user can receive comprehensive assistance from the control parameter adjustment auxiliary device.

[0042] Furthermore, the procedure according to the ninth aspect of this disclosure causes the steps included in the control parameter adjustment auxiliary method according to the eighth aspect to be executed in the computer.

[0043] Based on this configuration, the user can verify the operation of the production unit under any adjusted operating conditions. Therefore, when multiple optimal evaluation values ​​are obtained through adjustment, the user can operate the production unit under the operating conditions of these optimal evaluation values ​​and determine which evaluation value represents the best adjustment result, considering factors such as abnormal noises or vibrations from the production unit. Thus, the user can receive comprehensive assistance from the control parameter adjustment auxiliary device.

[0044] (Implementation Method)

[0045] Hereinafter, embodiments of the present disclosure will be described in detail using the accompanying drawings. Furthermore, each embodiment described below illustrates a specific example of the present disclosure. The numerical values, constituent elements, arrangement positions of constituent elements, connection methods, steps, order of steps, and display examples shown in the following embodiments are examples and are not intended to limit the present disclosure. Therefore, constituent elements in the following embodiments not described in the independent claims of the present disclosure are described as arbitrary constituent elements. In addition, the figures are not necessarily strictly illustrated. In the figures, substantially identical structures are labeled with the same reference numerals, and repeated descriptions are omitted or simplified.

[0046] Figure 1 This is a diagram showing an outline of the production system 1 involved in the implementation method.

[0047] like Figure 1 As shown, production system 1 is a system for producing articles. 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 interconnected via a communication line. The communication via the communication line can be wired or wireless.

[0048] Production apparatus 10 is an apparatus for producing articles, such as various industrial apparatuses such as installation devices, processing devices, or working devices installed in factories, etc. Production apparatus 10 includes a driven object 20, a servo motor 30, a servo control device 40, an encoder 50, and a sensor 60.

[0049] The driven object 20 is an object driven by the servo motor 30. For example, if the production apparatus 10 is an installation apparatus, the driven object 20 is a moving part (head) that assembles electronic components on the substrate by moving relative to the substrate (not shown).

[0050] The servo motor 30 is a motor that drives the object 20. For example, if the production apparatus 10 is an installation apparatus, the servo motor 30 moves the object 20 relative to the substrate.

[0051] The servo control device 40 is, for example, a servo amplifier. Based on servo information sent from the control parameter adjustment auxiliary device 80, the servo control device 40 drives (controls) the servo motor 30, thereby controlling the drive of the driven object 20. The servo information includes information on the operating conditions and control parameters. The operating conditions are the operating mode of the driven object 20 from the starting position to the target position, such as the travel distance, maximum speed, acceleration time, and deceleration time of the driven object 20. The control parameters are used by the servo control device 40 to control the driven object 20. The control parameters are a set of parameters consisting of multiple parameters, such as position gain, torque gain, and integral gain. The control parameters are a set of parameters set to achieve the operating conditions.

[0052] The encoder 50 detects the displacement of the servo motor 30 and generates encoder information representing the detected displacement of the servo motor 30. The encoder 50 sends the generated encoder information to the control parameter adjustment auxiliary device 80.

[0053] Sensor 60 detects the position of the driven object 20 and generates sensor information indicating the detected position of the driven object 20, etc. Sensor 60 sends the generated sensor information to sensor information collection device 70.

[0054] The sensor information collection device 70 collects sensor information generated by the sensor 60. The sensor information collection device 70 sends the collected sensor information to the control parameter adjustment auxiliary device 80.

[0055] The control parameter adjustment auxiliary device 80 is a device that assists in adjusting the values ​​of various control parameter groups set in multiple operating conditions within the servo control device 40 when the servo control device 40 controls the servo motor 30. The control parameter adjustment auxiliary device 80 is, for example, a terminal device such as a personal computer installed in a factory, and operated by a user. The control parameter adjustment auxiliary device 80 is used to adjust the aforementioned control parameters. The control parameter adjustment auxiliary device 80 receives encoder information sent from the encoder 50 and sensor information sent from the sensor information collection device 70. Furthermore, based on the received encoder information and sensor information, the control parameter adjustment auxiliary device 80 adjusts the control parameters in the multiple operating conditions and sends servo information containing the adjusted control parameters to the production device 10.

[0056] Figure 2 This is a block diagram illustrating the functional structure of the production system 1 involved in the implementation method.

[0057] like Figure 2 As shown, the servo control device 40 of the production apparatus 10 has a servo information acquisition unit 41, a servo information output unit 42, a storage unit 43, and a control unit 44 as its functional structure.

[0058] The servo information acquisition unit 41 acquires (receives) servo information sent from the control parameter adjustment auxiliary device 80. The servo information acquisition unit 41 is implemented, for example, by a communication module.

[0059] The servo information output unit 42 outputs the servo information acquired by the servo information acquisition unit 41 to the control unit 44. The servo information output unit 42 is implemented, for example, by a communication module.

[0060] Storage unit 43 stores various information and programs, etc. Storage unit 43 is implemented, for example, by a memory.

[0061] The control unit 44 drives 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. The control unit 44 is implemented, for example, by a processor. That is, the processor executes a program stored in memory to perform various functions of the servo control device 40.

[0062] In addition, such as Figure 2 As shown, the control parameter adjustment auxiliary device 80 has an operation unit 81, a display unit 82, a storage unit 83, a control unit 84, a setting unit 85, an action result acquisition unit 86, an adjustment unit 87, an adjustment result output unit 88, and a servo information output unit 89 as its functional structure.

[0063] The operation unit 81 is subject to input from the user. For example, the operation unit 81 is subject to input from the user regarding target performance values, set times, and set times. The target performance value is a target value for an indicator related to the performance of the production apparatus 10 (e.g., the settling time of the driven object 20 and vibration). The settling time is the time required for the driven object 20 to reach an allowable position from the start of the drive to a position that can be evaluated as having reached the target position. Furthermore, the set time is the settling time for control parameters preset by the user when adjusting control parameters. The set times are the number of times the control parameters preset by the user are changed when adjusting control parameters. The operation unit 81 is implemented, for example, by a keyboard and a mouse.

[0064] The display unit 82 displays various information. The display unit 82 is implemented, for example, by a liquid crystal display or the like.

[0065] The storage unit 83 stores various information and programs. The storage unit 83 is implemented, for example, by a memory. Additionally, the storage unit 83 can also store the learned model.

[0066] The control unit 84 controls the entire control parameter adjustment auxiliary device 80. The control unit 84 is implemented, for example, by a processor. That is, the processor executes a program stored in memory to perform various functions of the control parameter adjustment auxiliary device 80.

[0067] Based on user input received by the operation unit 81, the setting unit 85 sets target performance values, setting time, and setting frequency, etc. The setting unit 85 is implemented, for example, by a processor.

[0068] The motion result acquisition unit 86 acquires encoder information sent from the encoder 50 and sensor information sent from the sensor information collection device 70. Then, based on at least one of the acquired encoder information and sensor information, the motion result acquisition unit 86 acquires the motion result of the driven object 20 (i.e., the motion result of the production device 10). The motion result acquisition unit 86 is implemented, for example, by a communication module or the like.

[0069] The adjustment unit 87 sets one or more adjustment target action groups as the action conditions for the drive object 20 when adjusting the control parameters. Each adjustment target action group includes multiple action conditions. For example, the multiple action conditions include (a) an action condition that moves the drive object 20 1 mm from the drive start position, (b) an action condition that moves the drive object 20 5 mm from the drive start position, and (c) an action condition that moves the drive object 20 10 mm from the drive start position.

[0070] Furthermore, when the driving object 20 is operated under the aforementioned operating conditions, the adjustment unit 87 adjusts the control parameters based on the operation result of the driving object 20 obtained by the operation result acquisition unit 86. Next, when the driving object 20 is operated again with the adjusted control parameters, the adjustment unit 87 adjusts the control parameters again based on the operation result of the driving object 20 obtained by the operation result acquisition unit 86. Then, the adjustment unit 87 repeatedly performs the above process, thereby successively searching for the optimal control parameters. That is, the adjustment unit 87 executes an algorithm for solving "combinatorial optimization" by searching for control parameters from many control parameters that can achieve the desired target performance value.

[0071] Alternatively, the adjustment unit 87 can replace the above-described processing. When the driven object 20 is moved under the aforementioned operating conditions, the learned model stored in the storage unit 83 is used to adjust the control parameters based on the operating results of the driven object 20 obtained by the operating result acquisition unit 86. The learned model is constructed, for example, by using the performance of the production device 10, encoder information generated by the encoder 50, and sensor information generated by the sensor 60 as training data for machine learning. In constructing the theoretical model for machine learning, for example, a neural network is used.

[0072] The adjustment result output unit 88 outputs the operating conditions set by the adjustment unit 87 and the control parameters adjusted by the adjustment unit 87.

[0073] The servo information output unit 89 outputs (sends) servo information, which includes the action conditions and control parameters output from the adjustment result output unit 88, to the production unit 10.

[0074] Figure 3 This is a sequence diagram illustrating the process by which the production system 1 involved in the implementation attempts to search for optimal control parameters.

[0075] like Figure 3 As shown, firstly, the adjustment unit 87 of the control parameter adjustment auxiliary device 80 sets the initial control parameters and sets the first adjustment target action group as the initial action conditions for the driven object 20 (step S11). Next, the servo information output unit 89 of the control parameter adjustment auxiliary device 80 outputs servo information including the initial action conditions set by the adjustment unit 87 and the control parameters (first adjustment target action group) to the production device 10 (step S12).

[0076] Then, the servo information acquisition unit 41 of the servo control device 40 of the production unit 10 acquires servo information from the control parameter adjustment auxiliary 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 drive of the driven object 20 (step S13). Thus, the driven object 20 performs actions based on servo information via the servo motor 30.

[0077] Then, the operation result acquisition unit 86 of the control parameter adjustment auxiliary device 80 acquires encoder information sent from the encoder 50 and sensor information sent from the sensor 60 (i.e., sensor information collection device 70) (step S14). Therefore, the operation result acquisition unit 86 acquires the operation result of the driven object 20 based on at least one of the acquired encoder information and sensor information (step S15). The operation result of the driven object 20 includes, for example, the number of attempts to adjust the control parameters in order to successively search for the optimal control parameters, and the evaluation value (setup time) in each attempt.

[0078] Then, the adjustment unit 87 of the control parameter adjustment assist device 80 adjusts the control parameters based on the motion results of the driven object 20 obtained by the motion result acquisition unit 86, in order to successively search for the optimal control parameters. Furthermore, the adjustment unit 87 sets a second set of motion objects, different from the first set of motion objects, as the motion conditions for the driven object 20. Alternatively, the adjustment unit 87 may replace the above-described process by using the learned model stored in the storage unit 83 to adjust the control parameters based on the motion results of the driven object 20 obtained by the motion result acquisition unit 86.

[0079] Then, the servo information output unit 89 of the control parameter adjustment auxiliary device 80 outputs servo information containing the control parameters 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). After that, steps S12 to S15 are executed repeatedly as described above.

[0080] Figure 4 This diagram illustrates the process by which the production system 1, according to the embodiment, attempts to search for optimal control parameters while increasing operating conditions. In this diagram, the vertical axis shows the adjustment results (here, the settling time) obtained in each attempt when the operating conditions or control parameters were changed. Furthermore, the adjustment result refers to the operating result of the driven object 20, obtained by the operating result acquisition unit 86 during the attempt to search for optimal control parameters in the production system 1; here, it is the settling time. Moreover, this diagram shows not only the adjustment results obtained in attempts to search for optimal control parameters while increasing the number of operating conditions used, but also adjustment results where the number of operating conditions used is the same but the combination of operating conditions used is different.

[0081] In addition, Figure 4 In the attempt to search for the optimal control parameters shown, the maximum number of action conditions for the driving object 20 to become the object of adjustment is 80, but the maximum number of action conditions for becoming the object of adjustment can be more or less than 80.

[0082] exist Figure 4 In the attempt to search for the optimal control parameters shown, the adjustment unit 87 executes an algorithm called "multiple condition optimization," which gradually increases the number of action conditions by optimizing the control parameters from the fewest action conditions to the most numerous action conditions. If the control parameters are optimized for the numerous action conditions from the beginning, the target performance value (setup time) desired by the user may not be achieved. Therefore, by executing the multiple condition optimization algorithm, the number of action conditions is gradually increased from the easier optimization (optimization of control parameters in the fewest action conditions) to the more difficult optimization (optimization of control parameters in the manyest action conditions), thereby making it easier to achieve the target performance value (setup time) desired by the user. The specific adjustment method will be explained below.

[0083] like Figure 4 As shown, firstly, the adjustment unit 87 selects one action condition from 80 action conditions (80 types of action conditions) to optimize the control parameters. The adjustment unit 87 searches until the optimization of the control parameters in one of the 80 action conditions is completed. Furthermore, the adjustment result under one action condition is compared with... Figure 4The line on the left side of the chart shown corresponds to this.

[0084] Next, the adjustment unit 87 selects 10 action conditions from 80 action conditions to optimize the control parameters. The adjustment unit 87 uses the control parameter values ​​obtained from optimizing one action as a reference to perform optimization under the 10 action conditions. The adjustment unit 87 searches until the optimization of the control parameters is completed for all combinations of the 10 action conditions. Furthermore, the adjustment results under the 10 action conditions are compared with... Figure 4 The line in the center of the chart shown corresponds to this.

[0085] Similarly, the number of motion conditions used for adjustment was continuously increased to 20, 40, 60, and 80, and the control parameters were optimized for all combinations. Furthermore, the adjustment results under 20, 40, 60, and 80 motion conditions were compared with... Figure 4 The line on the right side of the chart shown corresponds to this.

[0086] Although the adjustment results under each action condition are Figure 4 The lines in the diagram represent points connecting multiple adjustment results. Figure 4 That is, it is shown as a line. In other words, instead of a single line representing a single adjustment result, multiple adjustment results are connected and displayed as a single line.

[0087] Figure 5A It shows that the control unit 84 will Figure 4 The adjustment results are shown in the example diagram of the display unit 82.

[0088] like Figure 5A As shown, the control unit 84 displays the following on the same screen on the display unit 82: scatter plot display image 101, control parameter display image 102, waveform data display image 103, waveform data selection image 104, progress status display image 105, additional adjustment button 106, save button 107, end button 108, and action confirmation button 109.

[0089] In scatter plot display image 101, the horizontal axis is set to the number of attempts to adjust the control parameters in order to successively search for the optimal control parameters, and the vertical axis is set to the provisional time within each number of attempts. Furthermore, the provisional time within each number of attempts refers to the evaluation value (set-off time) within each number of attempts. In other words, the points displayed on the scatter plot are... Figure 4The adjustment results obtained in each of the described attempts are shown. The adjustment results of the driving object 20 shown in the scatter plot are displayed on the scatter plot with white circles. In addition, the adjustment result that is the best evaluation value among the adjustment results of the driving object 20 shown in the scatter plot is displayed on the scatter plot with black diamonds. Furthermore, if the user selects the adjustment result from any number of attempts of the selected driving object 20, the selected adjustment result is displayed on the scatter plot with diagonal circles. In addition, the selected adjustment result is displayed as the current evaluation value. Furthermore, the solid line shown in the scatter plot represents the line of the best evaluation value obtained in the number of attempts so far. In addition, the adjustment results displayed on the scatter plot can be previously obtained adjustment results stored in the storage unit 83, or adjustment results obtained in real time by the action result acquisition unit 86. Furthermore, the scatter plot display image 101 is an example of the first image in the embodiment.

[0090] In addition, the scatter plot display image 101 shows a table indicating the current evaluation value, the provisional time (set time) for the best evaluation value, and the number of attempts.

[0091] If the user selects an adjustment result from the adjustment results of the driving object 20 shown in the scatter plot, the operation unit 81 obtains the user's selection of an adjustment result as a first instruction to the user for the scatter plot display image 101.

[0092] The control parameter display image 102 displays a table showing the values ​​of the control parameter groups used in the number of attempts corresponding to the first instruction obtained by the operation unit 81, and the values ​​of the control parameter groups when the optimal evaluation value is obtained. In other words, the control parameter display image 102 displays a table showing the adjustment results (current evaluation value) of the control parameter groups in any number of attempts of the driving object 20 selected by the user in the scatter plot display image 101, and the values ​​of the control parameter groups when the optimal evaluation value is obtained. Figure 5A As shown, for example, the left column of the table displays the number of attempts and the names of the control parameter groups; the middle column of the table displays the number of attempts 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 attempts and the values ​​of the control parameter groups when the best evaluation value is obtained.

[0093] The control unit 84 displays the values ​​of the control parameter group corresponding to the adjustment result of the first instruction and the values ​​of the control parameter group when the optimal evaluation value is obtained on the control parameter display image 102, allowing the user to compare the values ​​of the control parameter group. This comparison allows the user to investigate the main reasons for the difference between the adjustment result corresponding to the first instruction and the optimal evaluation value. Furthermore, even when there are multiple optimal evaluation values, the user can select more reasonable control parameters from the viewpoint of the control stability of the production unit 10 by comparing the values ​​of the control parameter group.

[0094] In the waveform data display image 103, the waveform data shows the time changes of various measured values ​​obtained by measurement during the number of attempts corresponding to the first instruction acquired by the operation unit 81. Figure 5A In the waveform data, the waveform of the time series data representing the difference between the target position and the observed position of the object controlled by the servo motor 30 is displayed. That is, in Figure 5A In the example shown, in waveform data display image 103, among any adjustment results of the driven object 20 selected by the user in scatter plot display image 101, the waveform of the time series data representing the difference between the target position and the observed position of the driven object 20 servo-controlled by the servo motor 30 is displayed according to each action condition. For example... Figure 5A As shown, for example, in waveform data display image 103, a graph with the horizontal axis set to elapsed time and the vertical axis set to the evaluation waveform is displayed, indicated by solid lines. The value represented by the evaluation waveform displayed on the vertical axis is the position deviation value, which shows the difference between the target position and the observed position of the driven object 20, which is servo-controlled by the servo motor 30. Specifically, the servo control device 40 controls the drive of the driven object 20 until the driven object 20 reaches an allowable position that can be evaluated as having reached the target position from the drive start position, thereby obtaining a graph in which the value of the evaluation waveform changes and becomes 0. In addition, if other items are selected in waveform data selection image 104 (described later), other waveform data or multiple waveform data can also be displayed in waveform data display image 103. For example, if the user selects the position command speed item in waveform data selection image 104, a graph with the horizontal axis set to elapsed time and the vertical axis set to position command speed can also be displayed in waveform data display image 103, indicated by dashed lines. The position command speed displayed on the vertical axis represents the moving speed of the driven object 20, which is servo-controlled by the servo motor 30. Furthermore, the waveform data display image 103 is an example of the third image in this embodiment.

[0095] The control unit 84 displays the adjustment results of the number of attempts corresponding to the first instruction on the waveform data display image 103, allowing the user to investigate aspects that cannot be confirmed solely by comparing the values ​​of the control parameter group shown in the control parameter display image 102. Specifically, by reviewing the waveform data shown in the waveform data display image 103, the user can evaluate the waveform data with less jitter as the further optimal adjustment result for the driven object 20. Thus, even when multiple adjustment results receive the same evaluation value, the user can select the further optimal control parameter group by comparing the jitter of the waveform data.

[0096] In waveform data selection image 104, a table is displayed for the user to select the type of waveform displayed in waveform data display image 103 that has the same time elapsed as the time series data. The user can select the displayed chart by clicking the checkboxes in the left column of the table. Furthermore, the number of checkboxes can be one or more.

[0097] Therefore, the user can select data from any waveform. Thus, the user can display only the desired waveform data on the waveform display image 103.

[0098] In the progress status display image 105, a table related to the progress status and current adjustment conditions is displayed. The progress status table shows the elapsed time since the start of the adjustment aimed at obtaining the optimal result, and the number of adjustments that have ended relative to the number of attempts determined by the user. Furthermore, the current adjustment conditions table displays the direction of movement, amount of movement, maximum speed, and acceleration / deceleration time of the driving object 20 in the latest number of attempts.

[0099] The additional adjustment button 106 is a button that, if clicked by the user, displays an image (not shown) of the additional action conditions and control parameters on the display unit 82.

[0100] The save button 107 is a button that, if clicked by the user, saves the data such as the adjustment result displayed on the scatter plot display image 101 and the values ​​of the control parameter group when the adjustment result was obtained, and displays the image (not shown) on the display unit 82.

[0101] The "End" button 108 is a button that, if clicked by the user, ends the adjustment of the user's control parameters.

[0102] The action confirmation button 109 is a screen that, if clicked by the user, displays the action conditions used in the adjustment results of the number of attempts corresponding to the first instruction. Figure 5B (Refer to) the buttons displayed on the display section 82.

[0103] Next, an example of the screen displayed on the display unit 82 by the control unit 84 after the user clicks the action confirmation button 109 will be described. Figure 5B It is shown Figure 5A An example of a display (selecting image 110) performed by the display unit 82 after the action confirmation button 109 is clicked. Furthermore, Figure 6 It is shown Figure 5B The diagram shows various display modes of the selected image 110. That is, Figure 6 (a) ~ Figure 6 (c) is a diagram showing examples of the selection image 110 displayed in their respective different display modes.

[0104] like Figure 5B As shown, in Figure 5A After the action confirmation button 109 is clicked, the control unit 84 displays the selection image 110 on the display unit 82. Additionally, the control unit 84 can display the selection image 110 with... Figure 5A The displayed images can be shown on the same screen, or they can be displayed on a screen with... Figure 5A The displayed image is a separate screen.

[0105] The selection image 110 is an image that displays the operation conditions corresponding to the adjustment results in the number of attempts corresponding to the first instruction. Furthermore, if the selection image 110 is displayed before the user selects the adjustment results in any number of attempts for the drive object 20 selected in the scatter plot display image 101, that is, if the control unit 84 displays the selection image 110 on the display unit 82 before the operation unit 81 receives the first instruction, the operation conditions displayed on the selection image 110 may be, for example, the operation conditions corresponding to the initially measured adjustment results or the operation conditions corresponding to the last measured adjustment results.

[0106] The selection image 110 includes a first icon 111a, a second icon 111b, a third icon 112, an action execution button 113, a fourth icon 114, a scroll bar 115, and an end button 116. Furthermore, the selection image 110 is an example of the second image in this embodiment. Additionally, the following uses... Figure 6 (a) ~ Figure 6 (c) will be used to explain the first icon 111a, etc.

[0107] like Figure 6 (a) ~ Figure 6As shown in (c), the first icon 111a is an icon that displays various action conditions used in the adjustment results of the number of attempts corresponding to the first instruction, such as a button. Furthermore, the first icon 111a is a button that the user can click. The control unit 84 displays the first icon 111a on the selection image 110 in a selectable display mode. Additionally, such... Figure 6 (a) ~ Figure 6 The display mode of the first icon 111a shown in (c) is called the normal display. Furthermore, if the user clicks on one of the first icons 111a, the operation unit 81 obtains a selection of an action condition as a second instruction for the user who selected the image 110.

[0108] like Figure 6 (b) and Figure 6 As shown in (c), the second icon 111b is an icon displayed for various action conditions that were not used in the adjustment results of the number of attempts corresponding to the first instruction, such as a button. Furthermore, the second icon 111b is a button that the user cannot click. The control unit 84 displays the second icon 111b on the selection image 110 in a display mode where it cannot be selected.

[0109] like Figure 6 As shown in (a), the second icon 111b is not displayed within the selected image 110. That is to say, Figure 6 (a) is a diagram showing a display method in which various action conditions used in the number of adjustments in the number of attempts corresponding to the first instruction are displayed, while various unused action conditions are not displayed. Thus, the user can easily identify the action conditions used in any adjustment result.

[0110] On the other hand, such as Figure 6 (b) and Figure 6 As shown in (c), icon 111a and icon 111b are displayed within the selected image 110. That is, Figure 6 (b) and Figure 6(c) is a diagram showing the display of various action conditions used and unused in the number of adjustments made in the number of attempts corresponding to the first instruction. Furthermore, the first icon 111a and the second icon 111b are displayed in different ways. Specifically, the first icon 111a is displayed in a darker shade as a normal display, while the second icon 111b is displayed in a lighter shade (gray) shade as a non-normal display. This difference in display between the first icon 111a and the second icon 111b makes it easy for the user to know whether each icon can be selected. For example, if an action condition is displayed with the first icon 111a, the user can select the action condition displayed with the first icon 111a. On the other hand, if another action condition is displayed with the second icon 111b, the user cannot select the action condition displayed with the second icon 111b. Thus, the user can easily distinguish between the action conditions used and unused in any adjustment result.

[0111] like Figure 6 (a) ~ Figure 6 As shown in (c), the third icon 112 is an icon for selecting whether to display the waveform data measured under each operating condition on the waveform data display image 103, for example, a checkbox. Specifically, if the user selects the third icon 112, the control unit 84 displays the waveform data measured under the operating condition corresponding to the selected third icon 112 on the waveform data display image 103. On the other hand, if the user deselects the third icon 112, the control unit 84 does not display the waveform data measured under the operating condition corresponding to the deselected third icon 112 on the waveform data display image 103. Furthermore, the control unit 84 can also select the third icon 112 when the display mode of the first icon 111a is changed from normal display to black-and-white inverted display. Thus, the user can confirm the waveform data of the operating conditions used in any adjustment result. Therefore, by comparing the waveform data, the user can select the operating conditions without operating the production device 10 under all operating conditions, and confirm that the production device 10 operates under the required operating conditions.

[0112] In addition, such as Figure 6 As shown in (b), the third icon 112, corresponding to the second icon 111b, may also not be displayed in the selection image 110. Since no waveform data was measured in the action conditions displayed by the second icon 111b, the third icon 112 may also not be displayed in the selection image 110. Therefore, when selecting whether to display the waveform data in the waveform display image 103, the user can easily visually discern whether waveform data can be selected.

[0113] In addition, such as Figure 6As shown in (c), the third icon 112, corresponding to the second icon 111b, can also be displayed within the selection image 110. Furthermore, the third icon 112, corresponding to the second icon 111b, can also be displayed in a lighter shade (gray) similar to the second icon 111b. Therefore, when selecting whether to display waveform data in the waveform display image 103, the user can easily visually discern whether waveform data can be selected.

[0114] Furthermore, as an initial state, when the selection image 110 is displayed, the third icon 112 corresponding to all the operating conditions for which waveform data has been measured can also be selected. In other words, the control unit 84 can also display all the waveform data measured in the adjustment results of the number of attempts corresponding to the first instruction on the waveform data display image 103 in the initial state.

[0115] The action execution button 113 is a button that accepts an instruction to cause the servo motor 30 (production device 10) to perform an action using an action condition corresponding to the second instruction. The action execution button 113 is located in... Figure 6 (a) ~ Figure 6 In the example shown in (c), since none of the action conditions are selected, the state is one where no instruction to execute an action on the servo motor 30 (production device 10) has been received. When no action is received, the action execution button 113 is displayed in a lighter shade (gray), similar to the second icon 111b. Furthermore, when no action is received, the action execution button 113 is displayed in a way that prevents selection, similar to the second icon 111b. This display mode of the action execution button 113 is referred to as the first display mode. The case where the action execution button 113 receives an instruction to execute an action on the servo motor 30 (production device 10) will be described later.

[0116] exist Figure 6 (a) ~ Figure 6In the example shown in (c), the fourth icon 114 is an icon used to operate on the third icon 112 in conjunction with it, for example, it includes a checkbox. Specifically, when the user selects the checkbox described as "Select All" on the right, the control unit 84 selects the third icon 112 corresponding to the first icon 111a. Additionally, in this case, the control unit 84 does not select the third icon 112 corresponding to the second icon 111b, which contains unmeasured waveform data. The control unit 84 selects the third icon 112 corresponding to the action condition used in the adjustment result of the number of attempts corresponding to the first instruction, and displays the waveform data on the waveform data display image 103. Furthermore, when the user selects the checkbox described as "Clear All" on the right, the control unit 84 deselects all selections for the third icon 112. However, if the operation unit 81 has obtained the second instruction in advance and the user has selected the checkbox described as "clear all" on the right, the control unit 84 may also be set not to deselect the third icon 112 corresponding to the action condition obtained by the operation unit 81 as the second instruction.

[0117] exist Figure 6 (a) ~ Figure 6 In the example shown in (c), the scroll bar 115 is an operation tool for moving the display area of ​​the selected image 110. For example, by the user operating the scroll bar 115, the control unit 84 moves the display areas of the first icon 111a, the second icon 111b, and the third icon 112 in accordance with the user's operation. Specifically, as Figure 6 (b) and Figure 6 As in (c), if multiple first icons 111a, second icons 111b, and third icons 112 are not simultaneously displayed in the selection image 110, and the user moves the scroll bar 115 down, the control unit 84, in accordance with the user's operation, moves the display area of ​​the first icons 111a, second icons 111b, and third icons 112 down. Thus, the user can confirm the first icons 111a, second icons 111b, and third icons 112 displayed in the selection image 110.

[0118] The end button 116 is a button that accepts an instruction from the user to end the display of the selected image 110 on the display unit 82. Figure 6 (a) ~ Figure 6 In the example shown in (c), the end button 116 is displayed as an icon like "×" within the selected image 110. If the end button 116 receives an instruction from the user, the control unit 84 ends the display of the selected image 110 to the display unit 82.

[0119] Alternatively, it can be preset by the user. Figure 6 (a) ~ Figure 6The display mode of (c) is adjusted so that the control unit 84 can... Figure 6 (a) ~ Figure 6 Any one of the display modes in (c) is displayed on the display unit 82.

[0120] Figure 7 It is shown Figure 6 The diagram shows an example of the selection image 110 after the first icon 111a shown in (a) is clicked. Figure 7 For example, this is the display example after the user clicks the first icon 111a of display action condition 4.

[0121] like Figure 7 As shown, after the operation unit 81 receives the selection of action condition 4 as a second instruction from the user selecting image 110, the control unit 84 changes the display mode of the first icon 111a displaying action condition 4 from normal display to a white-black inverted display, and changes the display mode of the action execution button 113 from a lighter display to a darker display. This white-black inverted display mode of the first icon 111a is called the white-black inverted display, and the darker display mode of the action execution button 113 is called the second display mode. When the action execution button 113 is displayed in the second display mode, the action execution button 113 is in a state where it receives an instruction to cause the servo motor 30 (production device 10) to execute the action condition corresponding to the second instruction. If the user clicks the action execution button 113, the action execution button 113 receives an instruction to cause the servo motor 30 (production device 10) to execute the action condition corresponding to the second instruction. Therefore, the control unit 84 issues an instruction to cause the servo motor 30 (production device 10) to execute the action condition corresponding to the second instruction. Then, the servo motor 30 (production device 10) executes an action based on the action conditions corresponding to the second instruction. Therefore, the user can actually make the production device 10 operate under any adjusted action conditions and confirm it. Thus, if multiple optimal evaluation values ​​are obtained through adjustment, the user can make the production device 10 operate under action conditions with multiple optimal evaluation values, and determine which evaluation value is the best adjustment result from the perspective of abnormal noises or vibrations from the production device 10.

[0122] Furthermore, if the user clicks the first icon 111a, which is displayed in a white-to-black inverted manner, the control unit 84 changes the display mode of the first icon 111a from the white-to-black inverted display to the normal display. Additionally, if the first icon 111a displaying action condition 4 is in a white-to-black inverted display, for example, if the user clicks action condition 2, the control unit 84 changes the display mode of the first icon 111a displaying action condition 2 from the normal display to the white-to-black inverted display, and also changes the display mode of the first icon 111a displaying action condition 4 from the white-to-black inverted display to the normal display. At this time, the action execution button 113 is in a state that accepts the instruction to make the servo motor 30 (production device 10) execute action condition 2.

[0123] In addition, the above explains Figure 6 The example of displaying image 110 in display mode (a) is shown, but... Figure 6 (b) and Figure 6 The same applies to the display example of selected image 110 in display mode (c).

[0124] Figure 8A yes Figure 5A or Figure 5B The waveform data is a magnified view of the waveform data shown in image 103. Figure 8A This is a graph showing the waveform data measured under the action condition where icon 112 is selected.

[0125] Figure 8A It is a graph in which multiple waveform data are displayed on a single chart. Figure 8A In a diagram where multiple waveform data are displayed as identical lines, the actual control parameter adjustment auxiliary device 80 displays each waveform data with lines of different colors. Furthermore, in the actual control parameter adjustment auxiliary device 80, each waveform data can be displayed not only with solid lines but also with dotted lines or other variations of the line type.

[0126] Figure 8B It shows the... Figure 8A The diagram shows an example of waveform data that is emphasized under the operating conditions corresponding to the second instruction. For example, Figure 8B It is shown as follows Figure 7 The image shows an example of the waveform data displayed after a user clicks on the first icon (111a). In other words, Figure 8B This is a diagram showing an example of waveform data display when the control unit 84 changes the display mode of a first icon 111a from normal display to white-black inverted display.

[0127] like Figure 8BAs shown, the control unit 84 only displays the waveform data measured under the action condition corresponding to one first icon 111a in a darker shade, while displaying the remaining waveform data in a lighter shade (gray). This change in the shade of the displayed waveform data by the control unit 84 is called waveform data emphasis display. Therefore, the user can easily confirm the waveform data of the action condition they want to focus on under any adjustment result. Furthermore, if the user clicks the first icon 111a for another action condition, the control unit 84 will emphasize the waveform data measured under that other action condition.

[0128] Furthermore, if the user clicks the first icon 111a, which displays in reverse white-to-black mode, the control unit 84 changes the display mode of the first icon 111a from reverse white-to-black to normal display, thus de-emphasizing the waveform data. In other words, if the user clicks the first icon 111a, which displays in reverse white-to-black mode, the control unit 84 changes the display mode of the waveform data displayed on the waveform data display image 103 from reverse white-to-black to normal display. Figure 8B Change to Figure 8A Therefore, users can de-emphasize the waveform data when confirmation of waveform data under specific action conditions ends. By de-emphasizing the waveform data after confirmation, users can easily confirm waveform data under other action conditions.

[0129] Figure 9A This shows that image 110 is set to... Figure 6 The flowchart shown in (a) illustrates an example of the motion confirmation process performed by the control parameter adjustment auxiliary device 80 in the implementation scheme shown. Motion confirmation means that the servo motor 30 (production device 10) performs an action based on a single motion condition. Furthermore, in Figure 9A Before step S10 shown, the operation unit 81 receives the data. Figure 6 The steps for selecting the display mode shown in (a).

[0130] First, the control unit 84 displays the scatter plot display image 101, the control parameter display image 102, and the waveform data display image 103 on the display unit 82 (step S10). Specifically, the control unit 84 displays... Figure 5A Such an image is displayed on display unit 82.

[0131] Next, the operation unit 81 responds to the user's selection of the action confirmation button 109 (step S11). Then, the control unit 84 displays the selection image 110 on the display unit 82 (step S12). In addition, the control unit 84 displays, for example, the action conditions used in the initial measurement adjustment result or the action conditions used in the last measurement adjustment condition as the initial state on the selection image 110.

[0132] Next, if the user clicks any point shown in the scatter plot display image 101, the operation unit 81 accepts the selection of any adjustment result shown in the scatter plot display image 101 (first instruction) (step S13). Then, the control unit 84 displays the operation conditions used in the adjustment result corresponding to the first instruction on the selection image 110 (step S14). Alternatively, step S13 can be performed before step S11. In this case, in step S14, the control unit 84 displays the operation conditions used in the adjustment result corresponding to the first instruction on the selection image 110 from the beginning.

[0133] Next, if the user clicks on an action condition from the action conditions shown in the selection image 110, the operation unit 81 receives the user's selection of an action condition (second instruction) (step S15). Then, the control unit 84 changes the display mode of the first icon 111a corresponding to the selected action condition from normal display to a white-to-black inverted display. Furthermore, the control unit 84 changes the display mode of the action execution button 113 from the first display mode to the second display mode. Thus, the action execution button 113 becomes ready to receive an instruction to have the servo motor 30 (production device 10) execute the selected action condition.

[0134] Next, if the user clicks the action execution button 113, the action execution button 113 receives an instruction to use the selected action conditions to cause the servo motor 30 (production device 10) to perform an action (step S16). Then, the control unit 84 issues an instruction to cause the servo motor 30 (production device 10) to perform the selected action conditions. Then, the servo motor 30 (production device 10) performs the action based on the selected action conditions (step S17).

[0135] Next, the control unit 84 determines whether the operation unit 81 has accepted the selection of another action condition (step S18). Specifically, the control unit 84 determines whether the user has clicked on another action condition.

[0136] If the control unit 84 determines that the operation unit 81 has received a selection of another action condition (yes in step S18), the action execution button 113 becomes in a state that accepts the instruction to make the servo motor 30 (production device 10) execute the other action condition (step S15). Afterwards, the same processing as steps S16 to S18 is performed for the other action condition.

[0137] If the control unit 84 determines that the operation unit 81 has not accepted the selection of another action condition (no in step S18), the control unit 84 determines whether the operation unit 81 has accepted the selection of another adjustment result (step S19). Specifically, the control unit 84 determines whether the user has selected another adjustment result shown in the scatter plot display image 101.

[0138] If the control unit 84 determines that the operation unit 81 has received a selection of another adjustment result (yes in step S19), the control unit 84 accepts the selection of the other adjustment result as the user's first instruction, and displays the action conditions used in the other adjustment result corresponding to the first instruction on the selection image 110 (step S14). Afterwards, the same processing as steps S15 to S18 is performed regarding the other adjustment result.

[0139] If the control unit 84 determines that the operation unit 81 has not accepted the selection of another adjustment result (no in step S19), the operation confirmation performed by the control parameter adjustment auxiliary device 80 ends.

[0140] Therefore, the user can confirm the operation of the production device 10 under any adjustment conditions. When multiple optimal evaluation values ​​are obtained through adjustment, the user can operate the production device 10 under the operation conditions of multiple optimal evaluation values, and determine which evaluation value is the best adjustment result based on the perspective of abnormal noises or vibrations from the production device 10.

[0141] Figure 9B This shows that image 110 is set to... Figure 6 (b) or Figure 6 The flowchart illustrates an example of the operation confirmation process performed by the control parameter adjustment auxiliary device 80 in the implementation method shown in (c). Additionally, in Figure 9B Before step S10 shown, the operation unit 81 receives the data. Figure 6 (b) or Figure 6 The steps for selecting the display mode shown in (c) are as follows.

[0142] Figure 9B Steps S10 to S13 and S16 to S19 shown are set to be... Figure 9A The processes shown in steps S10 to S13 and steps S16 to S19 are the same or substantially the same, so their description is omitted. Hereinafter, we will focus on the steps S14a and S15a, which involve different processes.

[0143] After the operation unit 81 receives the first instruction in step S13, the control unit 84 displays all the operation conditions of the adjustment result corresponding to the first instruction on the selection image 110 (step S14a). Specifically, as follows Figure 6 (b) and Figure 6As shown in (c), the control unit 84 displays the operation conditions used in the adjustment results corresponding to the first instruction using the first icon 111a, and displays the operation conditions not used in the adjustment results corresponding to the first instruction using the second icon 111b.

[0144] Next, if the user clicks on one of the first icons 111a shown in the selection image 110, the operation unit 81 receives the user's selection of an action condition (second instruction) (step S15a). Thus, with... Figure 9A Similarly, in step S15, the display mode of the first icon 111a corresponding to the selected action condition is changed from normal display to white-black inverted display. Furthermore, the control unit 84 changes the display mode of the action execution button 113 from the first display mode to the second display mode. Thus, the action execution button 113 becomes ready to receive an instruction to cause the servo motor 30 (production device 10) to execute the selected action condition.

[0145] By displaying both icon 111a and icon 111b simultaneously, users can easily distinguish between action conditions used and unused in any adjustment result.

[0146] Figure 10 This is a flowchart illustrating an example of the process of displaying waveform data and confirming actions by the control parameter adjustment auxiliary device 80 according to an embodiment. Additionally, in Figure 10 In the process, before step S20, the user makes the selection. Figure 6 (a) ~ Figure 6 In step S20, the control unit 84 displays the selected image 110 in any of the display modes in (c).

[0147] After the operation unit 81 receives the first instruction in step S13, the control unit 84 displays the operating conditions used in the adjustment result corresponding to the first instruction on the selection image 110 (step S20). Then, the control unit 84 displays the waveform data measured under each operating condition on the waveform data display image 103 (step S21). Furthermore, the order of steps S20 and S21 is not limited to the above description. Step S21 may be performed before step S20, or steps S20 and S21 may be performed simultaneously.

[0148] Next, the control unit 84 determines whether the operation unit 81 has received a selection of one action condition from the various action conditions by the user (second instruction) (step S22). Specifically, the control unit 84 determines whether the user has clicked a first icon 111a.

[0149] If the control unit 84 determines that the operation unit 81 has not received the second instruction (no in step S22), the control unit 84 performs the determination in step S22 until it determines that the operation unit 81 has received the second instruction.

[0150] If the control unit 84 determines that the operation unit 81 has received the second instruction (yes in step S22), the control unit 84 changes the display mode of the selected first icon 111a from normal display to white-black inverted display, and changes the display mode of the action execution button 113 from the first display mode to the second display mode (step S23).

[0151] Next, the control unit 84 determines whether waveform data exists under the selected operating conditions (step S24). In other words, the control unit 84 determines whether waveform data was measured under the selected operating conditions.

[0152] If the control unit 84 determines that waveform data has been measured (yes in step S24), the control unit 84 highlights the measured waveform data (step S25). Specifically, the control unit 84 changes the display mode of the waveform data displayed on the waveform data display image 103 from... Figure 8A Change to Figure 8B .

[0153] If the control unit 84 determines that no waveform data has been measured (no in step S24), the control unit 84 does not change the display mode of the waveform data displayed on the waveform data display image 103. Specifically, the control unit 84 maintains the display mode of the waveform data displayed on the waveform data display image 103 as follows: Figure 8A .

[0154] After the control unit 84 performs the processing in step S25, or after performing the processing without changing the display mode of the waveform data, the control unit 84 determines whether the action execution button 113 has received an instruction to make the servo motor 30 (production device 10) perform an action using the selected action conditions (step S26). Specifically, the control unit 84 determines whether the user has clicked the action execution button 113.

[0155] When the control unit 84 determines that the action execution button 113 has received an instruction (yes in step S26), the control unit 84 issues an instruction to the servo motor 30 (production device 10) to execute the action using the selected action conditions. Then, the servo motor 30 (production device 10) executes the action using the selected action conditions (step S27).

[0156] If the control unit 84 determines that the action execution button 113 has not received an instruction (yes in step S26), the control unit 84 does not issue an instruction to the servo motor 30 (production device 10) to execute the action using the selected action conditions. The servo motor 30 (production device 10) does not execute the action using the selected action conditions.

[0157] After the control unit 84 performs the processing in step S27, or after performing the processing of not giving an instruction to perform an action, the control unit 84 determines whether the operation unit 81 has received an instruction to display the end action condition (step S28). Specifically, the control unit 84 determines whether the user has clicked the end button 116.

[0158] If the control unit 84 determines that the operation unit 81 has not received an instruction to end the action condition display (yes in step S28), the control unit 84 determines whether the operation unit 81 has received an instruction to deselect the selected action condition (step S29). Specifically, the control unit 84 determines whether the user clicked the first icon 111a, which is displayed in a black-and-white inversion.

[0159] If the control unit 84 determines that the operation unit 81 has received an instruction to select cancellation (yes in step S29), the control unit 84 changes the display mode of the action execution button 113 from the second display mode to the first display mode and cancels the emphasis display of waveform data (step S30).

[0160] If the control unit 84 determines that the operation unit 81 has not received the instruction to select cancellation (no in step S29), the control unit 84 maintains the display mode of the action execution button 113 in the state of maintaining the second display mode.

[0161] After the control unit 84 performs the processing in step S30, or after the processing of maintaining the display mode of the action execution button 113, the control unit 84 determines whether the operation unit 81 has received a selection of one action condition from the various action conditions (second instruction) (step S22). Then, the same processing from steps S22 to S28 is performed.

[0162] If the control unit 84 determines that the operation unit 81 has received an instruction to display the end action condition (yes in step S28), the control unit 84 ends the display of the selection image 110 to the display unit 82 (step S31).

[0163] Therefore, the user can confirm the waveform data of the operating conditions used in any adjustment result. Thus, by comparing the waveform data, the user can select the operating conditions without operating the production device with all operating conditions, and confirm that the production device 10 operates with the operating conditions that the user wants to confirm.

[0164] Furthermore, users can easily confirm the waveform data of the action conditions they want to focus on under any adjustment results.

[0165] Furthermore, users can de-emphasize the waveform data when confirmation of waveform data under specific action conditions ends. By de-emphasizing the waveform data after confirmation, users can easily confirm waveform data under other action conditions.

[0166] Furthermore, the user can select the action execution button 113 when one action condition is selected. Thus, the user can confirm the operation of the production device 10 based on the selected action condition.

[0167] Furthermore, the user cannot select the action execution button 113 when the action condition is removed. Therefore, if the user selects an action condition, the control unit 84 displays the action execution button 113 in a selectable display mode, so that the user can clearly understand which action condition the production device 10 has performed the action under.

[0168] (Variation example)

[0169] The above description addresses the control parameter adjustment auxiliary device involved in one or more embodiments, based on the aforementioned implementation methods. However, this disclosure is not limited to these embodiments. It is also possible that, without departing from the spirit of this disclosure, various modifications conceived by those skilled in the art to the aforementioned embodiments, or combinations of constituent elements from different embodiments, are also included within the scope of the one or more embodiments.

[0170] Alternatively, in the above embodiments, each component may be constructed by dedicated hardware, or implemented by executing software programs suitable for each component. Each component may also be implemented by a program execution unit such as a CPU (Central Processing Unit) or processor reading and executing software programs recorded on a recording medium such as a hard disk or semiconductor memory.

[0171] In addition, a CPU or other processor can be used to execute programs to achieve some or all of the functions of the control parameter adjustment auxiliary device involved in the above embodiments.

[0172] Some or all of the constituent elements of the aforementioned devices may also be composed of IC cards or individual modules capable of being installed and removed from the devices. The aforementioned IC cards or modules are computer systems composed of microprocessors, ROM, RAM, etc. The aforementioned IC cards or modules may also include multi-function LSIs. The IC cards or modules achieve their functions by operating according to computer programs via a microprocessor. The IC cards or modules may also be tamper-proof.

[0173] Industrial availability

[0174] The control parameter adjustment auxiliary device, control parameter adjustment auxiliary method, and program disclosed herein are useful, for example, as an auxiliary device, control parameter adjustment auxiliary method, and program for adjusting the values ​​of each group of control parameters in multiple action conditions set in the servo control device when the servo control device controls the servo motor.

[0175] Explanation of reference numerals in the attached figures

[0176] 1. Production System

[0177] 10 Production Units

[0178] 20 Driving Objects

[0179] 30 servo motors

[0180] 40 Servo Control Device

[0181] 41. Servo Information Acquisition Department

[0182] 42 Servo Information Output Unit

[0183] 43 Storage Department

[0184] 44 Control Department

[0185] 50 encoder

[0186] 60 sensors

[0187] 70 Sensor Information Collection Device

[0188] 80 Control Parameter Adjustment Auxiliary Device

[0189] 81 Operations Department

[0190] 82 Display Section

[0191] 83 Storage Department

[0192] 84 Control Department

[0193] 85 Setting Department

[0194] 86 Action Result Acquisition Department

[0195] 87 Adjustment Department

[0196] 88 Adjustment Result Output Section

[0197] 89 Servo Information Output Unit

[0198] 101 Scatter Plot Display Image

[0199] 102 Control Parameter Display Image

[0200] 103 Waveform data display image

[0201] 104 Waveform Data Selection Image

[0202] 105 Progress Status Display Images

[0203] 106 Added adjustment buttons

[0204] 107 Save button

[0205] 108 End button

[0206] 109 Action Confirmation Button

[0207] 110 Select Image

[0208] 111a First icon

[0209] 111b, second icon

[0210] 112 Third icon

[0211] 113 Action Execution Button

[0212] 114 4th icon

[0213] 115 Scroll bar

[0214] 116 End button.

Claims

1. A control parameter adjustment auxiliary device, which assists in adjusting the values ​​of a group of control parameters among multiple action conditions set in a servo control device when the servo control device controls a servo motor, comprising: Display section; The control unit displays the first image and the second image on the display unit; and The operation unit acquires a first instruction from the user for the first image and a second instruction from the user for the second image. The first image includes a graph showing the relationship between the number of attempts and the evaluation value in each attempt, obtained from searching for the values ​​of the control parameter set. The search for the values ​​of the control parameter set is achieved by repeatedly attempting to control the servo motor by the servo control device while changing the values ​​of the control parameter set in the plurality of action conditions. The second image includes: a first icon, showing the plurality of action conditions used in the number of attempts corresponding to the first instruction obtained by the operation unit. The second image includes an action execution button that accepts an instruction to cause the servo motor to perform an action using the one action condition corresponding to the second instruction that selects one action condition from the plurality of action conditions.

2. The control parameter adjustment auxiliary device according to claim 1, wherein, The second image also includes a second icon showing the action condition that was not used in the number of attempts corresponding to the first instruction obtained by the operation unit.

3. The control parameter adjustment auxiliary device according to claim 1 or 2, wherein, The control unit also causes the third image to be displayed on the display unit. The third image includes a graph showing at least one waveform data measured under the multiple action conditions used in the number of attempts corresponding to the first instruction obtained by the operation unit.

4. The control parameter adjustment auxiliary device according to claim 3, wherein, The second image also includes a third icon, which selects whether to display the measured waveform data for each of the plurality of action conditions. When the operation unit receives the second instruction, the control unit selects to display the waveform data measured under the one operation condition corresponding to the second instruction in the third icon, and emphasizes the waveform data measured under the one operation condition.

5. The control parameter adjustment auxiliary device according to claim 4, wherein, When the second instruction for selecting one action condition from the plurality of action conditions is deactivated, the control unit deactivates the emphasis display of the waveform data measured under the one action condition.

6. The control parameter adjustment auxiliary device according to claim 1, wherein, When the operation unit receives the second instruction to select one action condition from the plurality of action conditions, the control unit changes the action execution button from the first display mode to the second display mode.

7. The control parameter adjustment auxiliary device according to claim 1, wherein, If the operation unit does not receive the second instruction to select one action condition from the plurality of action conditions, or if the operation unit receives the cancellation of the second instruction to select one action condition from the plurality of action conditions, the control unit changes the action execution button from the second display mode to the first display mode.

8. A control parameter adjustment assistance method, executed by a computer, wherein the computer assists in adjusting the values ​​of a group of control parameters among multiple action conditions set in the servo control device when the servo control device controls a servo motor, the control parameter adjustment assistance method comprising: The control step involves displaying the first image and the second image on the display unit; and The acquisition steps include acquiring a first instruction from the user for the first image and acquiring a second instruction from the user for the second image. The first image includes a graph showing the relationship between the number of attempts and the evaluation value in each attempt, obtained from searching for the values ​​of the control parameter set. The search for the values ​​of the control parameter set is achieved by repeatedly attempting to control the servo motor by the servo control device while changing the values ​​of the control parameter set in the plurality of action conditions. The second image includes the plurality of action conditions used in the number of attempts corresponding to the first indication obtained through the acquisition step. The second image includes an action execution button that accepts an instruction to cause the servo motor to perform an action using the one action condition corresponding to the second instruction that selects one action condition from the plurality of action conditions.

9. A program that causes the steps included in the control parameter adjustment auxiliary method of claim 8 to be executed in the computer.

Images