Adjustment assistance device, adjustment assistance method, and program

Abstract

This invention provides adjustment assistance devices, adjustment assistance methods, and procedures to provide thoughtful assistance to users when making minor adjustments to the production equipment. The adjustment assistance device (80) includes a display control unit (841), an acquisition unit (842), and a data generation unit (843). The display control unit (841) displays images related to the adjustment on the display unit (82). The acquisition unit (842) accepts selections from multiple evaluation indicators set for multiple action conditions related to the movement of the driven object (20) moved by the servo motor (30), and accepts inputs of target values ​​corresponding to the selected evaluation indicators, each set for the multiple action conditions. The data generation unit (843) generates indicator data, which represents the evaluation indicators and target values ​​acquired by the acquisition unit (842) for each of the multiple action conditions.

Description

Technical Field

[0001] This disclosure relates to adjustment auxiliary devices, adjustment auxiliary methods, and procedures, and particularly to adjustment auxiliary devices, adjustment auxiliary methods, and procedures for assisting in the adjustment of control parameter sets required by a servo control device when controlling a servo motor. 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. While a set of control parameters is set in these motion conditions, it is necessary to adjust these control parameters to ensure the production equipment moves to its destination and stops quickly. Therefore, an adjustment auxiliary device is used to adjust the control parameter set in the motion conditions.

[0003] An adjustment auxiliary device is known as follows: when adjusting the control parameter group, an evaluation value is calculated based on both positioning data and sound analysis data, the control parameter group is optimized so that the evaluation value meets the required level, and the optimized control parameter group is set in the servo control device (for example, see Patent Document 1).

[0004] Prior art literature

[0005] Patent documents

[0006] Patent Document 1: Japanese Publication No. 7105882 Summary of the Invention

[0007] However, the aforementioned conventional adjustment auxiliary devices sometimes fail to provide the flexible and precise adjustments required for each specific operating condition. Consequently, when users make minor adjustments to the production equipment, the adjustment auxiliary devices struggle to offer adequate assistance.

[0008] Therefore, the purpose of this disclosure is to provide adjustment assistance devices, adjustment assistance methods, and procedures that can provide thoughtful assistance to users when making minor adjustments to the production equipment.

[0009] To achieve the above objectives, one aspect of this disclosure relates to an adjustment assistance device that assists in adjusting a set of control parameters required by a servo control device when controlling a servo motor. This adjustment assistance device includes a display control unit, an acquisition unit, and a data generation unit. The display control unit displays an image related to the adjustment on a display screen. The acquisition unit accepts selection from multiple evaluation indicators set for multiple motion conditions related to the movement of a driven object moved by the servo motor, and accepts input of target values ​​corresponding to the selected evaluation indicators, each set for the multiple motion conditions. The data generation unit generates indicator data, which represents the evaluation indicators and target values ​​acquired by the acquisition unit for each of the multiple motion conditions.

[0010] To achieve the above objectives, one aspect of this disclosure relates to an adjustment assistance method executed by a computer, which assists in adjusting a set of control parameters required by a servo control device when controlling a servo motor. This adjustment assistance method includes a display control step, an acquisition step, and a data generation step. The display control step displays an image related to the adjustment on a display unit. The acquisition step accepts selection from multiple evaluation indicators set for multiple motion conditions related to the movement of a driven object moved by the servo motor, and accepts input of target values ​​corresponding to the selected evaluation indicators, set for each of the multiple motion conditions. The data generation step generates indicator data representing the evaluation indicators and target values ​​acquired by the acquisition step for each of the multiple motion conditions.

[0011] In order to achieve the above objectives, one aspect of this disclosure relates to a program that causes the computer to perform the aforementioned adjustment assistance method.

[0012] According to this disclosure, adjustment assistance devices, adjustment assistance methods, and procedures are provided to provide thoughtful assistance to users when making minor adjustments to the production equipment. 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 of attempting to search for control parameter sets in a production system according to an embodiment.

[0016] Figure 4 This is a diagram used to illustrate the setting time and waveform area calculated as evaluation indicators by the adjustment auxiliary device involved in the implementation method.

[0017] Figure 5 This is a diagram showing an example of a display unit displaying an image related to the adjustment of control parameter groups.

[0018] Figure 6 This is a flowchart illustrating the actions of selecting evaluation indicators for the adjustment auxiliary device involved in the implementation method, inputting target values, and generating indicator data.

[0019] Figure 7 It is shown in Figure 6 The flowchart shows an example of an image displayed on the display unit after the acquisition unit receives the selection of evaluation indicators and the input of target values.

[0020] Figure 8 It is shown in Figure 6 A diagram of an example of the indicator data generated by the data generation unit in step S26.

[0021] Figure 9 This is shown as replacing the selection of evaluation indicators and input of target values ​​for the adjustment auxiliary device involved in the implementation method. Figure 6 The flowchart shows the actions performed in step S23.

[0022] Figure 10 It is shown in Figure 9 The flowchart shows an example of an image displayed on the display unit after the acquisition unit receives the selection of evaluation indicators and the input of target values.

[0023] Figure 11 This indicates that the acquisition part is from Figure 10 The image shown is an example of the evaluation indicators and target values ​​received for each action condition.

[0024] Figure 12 This is a flowchart illustrating the operation of the display control unit when it displays the evaluation indicators and target values ​​represented by the recommended data on the display unit.

[0025] Figure 13 It is shown in Figure 12 A diagram of an example of the recommended data maintained by the data generation unit in step S41.

[0026] Figure 14 It is shown in Figure 12 The figure shows an example of an image displayed on the display unit by the display control unit in step S42.

[0027] Figure 15 This is a flowchart illustrating the operation of the display control unit when it displays evaluation indicators and target values ​​that do not require data representation on the display unit.

[0028] Figure 16 It is shown in Figure 15 The diagram of an example of data that is not needed, which is maintained by the data generation unit in step S51.

[0029] Figure 17 It is shown in Figure 15 The figure shows an example of an image displayed on the display unit by the display control unit in step S52. Detailed Implementation

[0030] Hereinafter, embodiments of the present disclosure will be described in detail using the accompanying drawings. Furthermore, the embodiments described below are all specific examples of the present disclosure. The numerical values, constituent elements, arrangement positions of constituent elements, connection methods, steps, order of steps, display examples, etc., shown in the following embodiments are examples and are not intended to limit the present disclosure. Therefore, constituent elements in the following embodiments that are 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.

[0031] (Implementation Method)

[0032] [structure]

[0033] Figure 1 This is a diagram showing an outline of the production system 1000 according to an embodiment.

[0034] like Figure 1 As shown, production system 1000 is a system for producing articles. Production system 1000 includes a production device 10 (an example of an object), a sensor information collection device 70, and an adjustment auxiliary device 80. The production device 10, the sensor information collection device 70, and the adjustment auxiliary device 80 are communicatively connected to each other via a communication line. The communication via the communication line can be wired or wireless.

[0035] 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.

[0036] The driven object 20 is an object driven by the servo motor 30. For example, in the case where the production apparatus 10 is an mounting 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).

[0037] 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.

[0038] The servo control device 40 is, for example, a servo amplifier. Based on servo information sent from the adjustment auxiliary device 80, the servo control device 40 drives (controls) the servo motor 30, thereby controlling the movement of the driven object 20. The servo information includes motion conditions and a set of control parameters. The motion conditions are the motion modes of the driven object 20 that move via the servo motor 30, such as the moving distance, maximum speed, acceleration time, and deceleration time of the driven object 20. Furthermore, the motion conditions included in the servo information can be one motion mode or multiple motion modes. In addition, the set of control parameters is used by the servo control device 40 to control the driven object 20. The set of control parameters is a parameter set consisting of multiple parameters, such as position gain, torque gain, and integral gain. The set of control parameters is a set of parameters set to achieve the motion conditions.

[0039] 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 adjustment auxiliary device 80.

[0040] 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, for example, is a camera, and sends the generated sensor information to sensor information collection device 70.

[0041] The sensor information collection device 70 collects sensor information generated by the sensor 60. The sensor information collection device 70 then sends the collected sensor information to the adjustment assistance device 80.

[0042] The adjustment assistance device 80 is a device that assists in adjusting the control parameter set required by the servo control device 40 when controlling the servo motor 30. Here, the adjustment of the control parameter set refers to optimizing the control parameter set, which is also a search process used for this purpose. The adjustment assistance device 80 is, for example, a terminal device such as a personal computer installed in a factory, and operated by a user. The adjustment assistance device 80 is used to adjust the aforementioned control parameters. The adjustment assistance 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 adjustment assistance device 80 adjusts the control parameter set in multiple operating conditions and sends servo information containing the adjusted control parameter set to the production device 10. Alternatively, the adjustment assistance device 80 may be included as part of the aforementioned terminal device. Furthermore, the adjustment assistance device 80 is not limited to the aforementioned terminal device; it may also be connected to an interface such as a mouse or keyboard, and operated by a user through that interface.

[0043] Figure 2 This is a block diagram illustrating the functional structure of the production system 1000 according to the embodiment.

[0044] like Figure 2 As shown, the servo control device 40 of the production apparatus 10 has a functional structure comprising a servo information acquisition unit 41, a servo information output unit 42, a storage unit 43, and a control unit 44.

[0045] The servo information acquisition unit 41 acquires (receives) servo information sent from the adjustment auxiliary device 80. The servo information acquisition unit 41 is implemented, for example, by a communication module.

[0046] 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.

[0047] Storage unit 43 stores various information and programs, etc. Storage unit 43 is implemented, for example, by a memory.

[0048] 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 the program stored in the memory to perform various functions of the servo control device 40.

[0049] In addition, such as Figure 2As shown, the 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.

[0050] The operation unit 81 receives input from the user. Specifically, the operation unit 81 receives input from the user, such as evaluation metrics, target values, set times, and number of set times. Evaluation metrics are metrics related to the performance of the production device 10 (e.g., the settling time of the driven object 20 and the waveform area). The settling time is the time required for the driven object 20 to reach a permissible position that can be evaluated as having reached the target position from the start of the drive. The waveform area is the area representing the total distance traveled by the driven object 20. Detailed explanations of the settling time and waveform area will be provided later. The target value is the target value set by the user for each evaluation metric. The set time is the settling time of the control parameter set pre-input by the user when adjusting the control parameter set. The number of set times is the number of changes to the control parameter set pre-input by the user when adjusting the control parameter set. The operation unit 81 is implemented, for example, by a keyboard and mouse.

[0051] The display unit 82 displays various information. The display unit 82 is implemented, for example, by a liquid crystal display or the like.

[0052] 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.

[0053] The control unit 84 controls the entire adjustment assistance device 80. The control unit 84 is implemented, for example, by a processor. That is, the processor executes programs stored in the memory to perform various functions of the adjustment assistance device 80. Furthermore, the control unit 84 includes a display control unit 841, an acquisition unit 842, and a data generation unit 843.

[0054] In this way, the adjustment assistance device 80 has a processor and a memory. The processor executes the program stored in the memory to assist in adjusting the set of control parameters required by the servo control device 40. That is, the adjustment assistance device 80 has a computer with a processor and a memory. The processor executes the program stored in the memory, and the computer is used to assist in adjusting the set of control parameters required by the servo control device 40. In addition, the computer can be built into the aforementioned terminal device, or it can be configured as a computer near the production device 10, or it can be built into the production device 10. Furthermore, the aforementioned computer can also be contained in an external server, or it can be a so-called cloud computer.

[0055] The display control unit 841 displays images related to the adjustment of the control parameter group on the display unit 82. Examples of these images will be described later.

[0056] The acquisition unit 842, via the operation unit 81, accepts the selection from multiple evaluation indicators set for multiple action conditions. Furthermore, the acquisition unit 842, via the operation unit 81, accepts input of target values ​​corresponding to the selected evaluation indicators set for multiple action conditions.

[0057] The data generation unit 843 generates indicator data, which represents the evaluation indicators and target values ​​received by the acquisition unit 842 for multiple action conditions. The indicator data establishes a correspondence between the received and selected evaluation indicators and target values ​​for each of the multiple action conditions.

[0058] Based on user input received by the operation unit 81, the setting unit 85 sets evaluation indicators, target values, setting time, and setting frequency, etc. The setting unit 85 is implemented, for example, by a processor.

[0059] 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.

[0060] The adjustment unit 87 sets one or more adjustment target action groups as the action conditions for the driven object 20 when adjusting the control parameter group. Each adjustment target action group includes multiple action conditions. The multiple action conditions include, for example, (a) an action condition that moves the driven object 20 1 mm from the drive start position, (b) an action condition that moves the driven object 20 5 mm from the drive start position, and (c) an action condition that moves the driven object 20 10 mm from the drive start position.

[0061] For example, when the adjustment unit 87 moves the driven object 20 under the aforementioned multiple operating conditions, firstly, the adjustment unit 87 adjusts the control parameter set for operating condition (a). Specifically, the adjustment unit 87 adjusts (that is, optimizes) the control parameter set so that when the driven object 20 is moved under operating condition (a), the operating result of the driven object 20 obtained by the operating result acquisition unit 86 is close to the target value set as the evaluation index. Next, the adjustment unit 87 adjusts (that is, optimizes) the control parameter set again so that when the driven object 20 is moved again under the adjusted control parameter set, the operating result of the driven object 20 obtained by the operating result acquisition unit 86 is close to the target value set as the evaluation index. In this way, the adjustment unit 87 selects the optimal control parameter set in the adjustment of (a). The optimal control parameter set is the control parameter set that can achieve the desired target value in one operating condition. Next, the adjustment unit 87 adjusts the control parameter set for operating condition (b). First, the adjustment unit 87 uses the optimal control parameter set obtained under the action condition (a) and adjusts the control parameter set based on the action result of the driven object 20 obtained by the action result acquisition unit 86 when the driven object 20 is moved under the action condition (b). In other words, the adjustment unit 87 uses the optimal control parameter set obtained under the previous action condition, and adjusts the control parameter set based on the action result of the driven object 20 obtained by the action result acquisition unit 86 when the driven object 20 is moved again under the adjusted control parameter set. Then, the adjustment unit 87 adjusts the control parameter set again based on the action result of the driven object 20 obtained by the action result acquisition unit 86 when the driven object 20 is moved again under the adjusted control parameter set. In this way, the adjustment unit 87 selects the optimal control parameter set in the adjustment (b). Similarly, the adjustment unit 87 repeatedly performs the above process for all action conditions, thereby successively searching for the optimal control parameter set. That is, the adjustment unit 87 executes an algorithm for solving "combinatorial optimization" by searching for a control parameter set from many control parameter sets that can achieve the desired target value. In addition, the so-called optimal set of control parameters is the set of control parameters that can achieve the desired target value under multiple action conditions.

[0062] 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 parameter set based on the operation result of the driven object 20 obtained by the operation result acquisition unit 86. The learned model is constructed, for example, by using historical data of past skilled technicians adjusting the control parameter set as training data for machine learning. Specifically, the historical data includes data related to the control parameter set input by the skilled technician to the servo control device 40 (i.e., input data) and data related to the settling time and waveform area output by the servo control device 40 when controlling the drive of the driven object 20 based on the control parameter set of the input data (i.e., output data). Furthermore, in the construction of the theoretical model in machine learning, for example, a neural network is used.

[0063] The adjustment result output unit 88 outputs the operating conditions set by the adjustment unit 87 and the control parameter set adjusted by the adjustment unit 87.

[0064] The servo information output unit 89 outputs (sends) servo information, including the action conditions and control parameter groups output from the adjustment result output unit 88, to the production device 10.

[0065] [Action during the search for control parameter groups]

[0066] Figure 3 This is a sequence diagram illustrating the process by which the production system 1000 involved in the implementation attempts to search for the optimal set of control parameters.

[0067] like Figure 3 As shown, firstly, the adjustment unit 87 of the adjustment auxiliary device 80 sets an initial control parameter set, and sets the first adjustment target action set as the initial action condition for the driven object 20 (step S11). Next, the servo information output unit 89 of the adjustment auxiliary device 80 outputs servo information containing the initial action condition set by the adjustment unit 87 and the control parameter set (first adjustment target action set) to the production device 10 (step S12).

[0068] Then, the servo information acquisition unit 41 of the servo control device 40 of the production unit 10 acquires servo information from the 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. Based on the servo information output from the servo information output unit 42, the control unit 44 drives (controls) the servo motor 30, thereby controlling the drive of the driven object 20 (step S13). Thus, the driven object 20 performs actions based on servo information using the servo motor 30.

[0069] Then, the motion result acquisition unit 86 of the 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). Thus, the motion result acquisition unit 86 acquires the motion result of the driven object 20 based on at least one of the acquired encoder information and sensor information (step S15). The motion result of the driven object 20 may include, for example, the number of attempts to adjust the control parameter set in order to successively search for the optimal control parameter set, and the evaluation index (setup time, etc.) for each number of attempts.

[0070] Then, the adjustment unit 87 of the adjustment auxiliary device 80 adjusts the control parameter set based on the motion result of the driven object 20 obtained by the motion result acquisition unit 86, to successively search for the optimal control parameter set. Furthermore, the adjustment unit 87 sets a second motion set, different from the first motion set, as the motion condition 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, and adjusting the control parameter set based on the motion result of the driven object 20 obtained by the motion result acquisition unit 86.

[0071] Then, the servo information output unit 89 of the adjustment auxiliary device 80 outputs servo information containing the control parameter group adjusted by the adjustment unit 87 and the operation conditions (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.

[0072] [Set time and waveform area]

[0073] Figure 4 This is a diagram illustrating the setting time and waveform area calculated as evaluation indicators by the adjustment auxiliary device 80 involved in the implementation method. Additionally, Figure 4 The horizontal axis of the graph shows the time from the start of driving the object 20, and the vertical axis shows the positional deviation of the object 20 relative to the target position. That is, Figure 4 This is a graph showing the positional deviation of the driven object 20 over time.

[0074] The adjustment auxiliary device 80 is preset to an allowable position that can be used to evaluate whether the driven object 20 has reached the target position from the starting position of the drive. For example, the allowable position could be a position where the position deviation relative to the starting position of the drive is +10% or -10%, but it is not limited to this. Furthermore, in Figure 4 In the text, the permitted positions are those indicated by the two dashed lines. Additionally, as... Figure 4 As shown, the area sandwiched between the two allowed positions is set as the fixed width.

[0075] The settling time refers to the time from the moment the driven object 20 begins to be driven until the moment when the peak of the waveform representing the position deviation of the driven object 20 over time is first included within the settling width. Figure 4 In this process, the moment when the second peak is obtained is first included in the setting width, so the adjustment auxiliary device 80 sets the time from the moment when the driven object 20 starts to be driven to the moment when the second peak is obtained as the setting time.

[0076] The waveform area is determined by Figure 4 The total area enclosed by the waveform and the horizontal axis shown is the area with the diagonal line applied, which corresponds to the total distance traveled from when the driven object 20 first reaches the target position until it stops. The adjustment auxiliary device 80 sets the total area enclosed by the waveform and the horizontal axis obtained until the driven object 20 comes to a complete stop at the target position as the waveform area.

[0077] [Examples of images related to the adjustment of control parameter groups]

[0078] Figure 5 This is a diagram showing an example of a display when the display control unit 841 displays an image related to the adjustment of the control parameter group on the display unit 82.

[0079] like Figure 5 As shown, the images related to the adjustment of control parameter groups include items such as the adjustment object action command, adjustment action setting, preset action setting, and evaluation index.

[0080] The adjustment object action instruction includes items for the adjustment object action condition and action number. The adjustment object action condition displays the filename of the saved user-preset action conditions. For example, as shown in example 5, the adjustment object action condition displays action condition 1, action condition 2, action condition 3, action condition 4, ..., and action condition n (n is an integer greater than or equal to 1). Furthermore, the action number indicates the order in which the adjustment unit 87 uses the adjustment object action conditions saved in the adjustment object action condition to adjust the control parameter group. In other words, the adjustment unit 87 adjusts the control parameter group sequentially, starting with the adjustment object action condition with action number 1.

[0081] The "Adjust Action Settings" section displays the action conditions saved in the action conditions of the object being adjusted. Specifically, the "Adjust Action Settings" section includes items such as movement amount, speed, acceleration / deceleration time, number of repetitions, waiting time, and stop position.

[0082] The movement amount is a numerical value representing the distance the driven object 20 moves from the origin of the driven shaft to a stop position. Furthermore, when the origin is at the center of the shaft, a positive value is displayed in the movement amount column when the driven object 20 is driven in a positive direction relative to the origin, and a negative value is displayed in the movement amount column when the driven object 20 is driven in a negative direction relative to the origin.

[0083] Speed ​​is a numerical value representing a certain speed (that is, the maximum speed) of the driven object 20 under various operating conditions, and the unit of speed is r / min (rotations per minute). Furthermore, the servo motor 30 accelerates the driven object 20 from the moment it begins to drive it until it reaches a certain speed. Moreover, after driving the driven object 20 at a certain speed, the servo motor 30 decelerates and stops the driven object 20 when it gets closer to the target position.

[0084] The acceleration / deceleration time is the total time spent by the servo motor 30 accelerating the driven object 20 (i.e., acceleration time) and deceleration time decelerating the driven object 20 (i.e., deceleration time). The unit of acceleration / deceleration time is milliseconds (ms). The servo control device 40 drives the servo motor 30 so that the total time spent in adjusting the control parameter group, which is the actual acceleration and deceleration time, becomes the time set as the acceleration / deceleration time, thereby controlling the driving of the driven object 20.

[0085] The repetition count is the number of times the servo motor 30 drives the object 20 under specific control parameter conditions. For example... Figure 5 Therefore, when the number of repetitions of action condition 1 is 1, the adjustment unit 87 adjusts the control parameter groups for action condition 1 by using each control parameter group once. In other words, the adjustment unit 87 adjusts the control parameter groups based on the action result acquisition unit 86's one action result for each control parameter group. Furthermore, when the number of repetitions of action condition 2 is 3, the adjustment unit 87 adjusts the control parameter groups for action condition 2 by using each control parameter group three times. In other words, the adjustment unit 87 adjusts the control parameter groups based on the action result acquisition unit 86's three action results for each control parameter group.

[0086] The waiting time is the time from the completion of preparations for adjusting the control parameter group to the actual adjustment of the control parameter group, and the unit of waiting time is ms.

[0087] The stop position is a numerical value indicating the position where the driven object 20 stops after being driven. Similarly to the amount of movement, when the origin is at the center of the axis, a positive value is displayed in the stop position column when the stop position is positive relative to the origin, and a negative value is displayed in the stop position column when the stop position is negative relative to the origin.

[0088] The "Pre-action Setting" is a section that displays the action conditions for the servo motor 30 to move the driven object 20 from its current position to the starting position when the current position of the driven object 20 differs from the starting position set in the action conditions. The "Pre-action Setting" includes items for speed and acceleration / deceleration time. Furthermore, the speed and acceleration / deceleration time included in the "Pre-action Setting" are the same as those included in the "Adjustment Action Setting," so their description is omitted.

[0089] Additionally, the values ​​displayed in the action settings adjustment and the pre-set action conditions are the action conditions preset by the user. Figure 5 The image shown relates to the adjustment of the control parameter group, displaying the user-preset action conditions.

[0090] In addition to the settling time and waveform area described above, the evaluation indicators also include XXX. Furthermore, XXX, as one of the evaluation indicators, is an arbitrarily determined evaluation indicator, such as sound data related to the sound generated when the adjustment unit 87 adjusts the control parameter group. Sound data can, for example, display data indicating the volume (dB) of the sound, or data indicating the pitch (Hz) of the sound. Additionally, data related to the adjustment of the control parameter group, other than sound data, can also be displayed in XXX.

[0091] like Figure 5 As shown, each evaluation item has a selection area 101 and an input area 102.

[0092] Selection area 101 is a checkbox used by the acquisition unit 842 to indicate whether or not to select each evaluation indicator. When selection area 101 is an empty checkbox, the acquisition unit 842 accepts the selection of no evaluation indicator corresponding to selection area 101. When selection area 101 is a checkbox with a checkmark, the acquisition unit 842 accepts the selection of the evaluation indicator corresponding to selection area 101. In other words, Figure 5This is an example diagram showing the acquisition unit 842 only accepting the selection of the waveform area for operation condition 1. Furthermore, the selection of each evaluation index means that it is used as an evaluation index in the adjustment of the control parameter group. Conversely, the non-selection of each evaluation index means that it is not used as an evaluation index in the adjustment of the control parameter group.

[0093] This section explains the actions taken by the acquisition unit 842 in selecting or not selecting various evaluation indicators via selection area 101. Figure 5 For example, if a user sets the set time of action condition 1 as an evaluation indicator, and the user clicks the corresponding selection area 101, the acquisition unit 842 accepts the selection of that evaluation indicator. Furthermore, the display control unit 841 changes the display mode of the image related to the adjustment of the control parameter group displayed on the display unit 82 based on information related to the selection received by the acquisition unit 842. Specifically, the display control unit 841 changes the display mode of the selection area 101 corresponding to that evaluation indicator from an empty checkbox to a checkbox with a check mark. Furthermore, in Figure 5 If the user does not set the waveform area of ​​action condition 1 as an evaluation indicator, and the user clicks the corresponding selection area 101, the acquisition unit 842 accepts the non-selection of the evaluation indicator. Furthermore, based on information related to the selection received by the acquisition unit 842, the display control unit 841 changes the display mode of the selection area 101 corresponding to the evaluation indicator from a checkbox with a checkmark to an empty checkbox.

[0094] Input area 102 is the area where the acquisition unit 842 receives the input corresponding to the target value of the selected evaluation indicator received in selection area 101. Furthermore, the acquisition unit 842 only receives the input of the target value in input area 102 corresponding to the selected evaluation indicator received in selection area 101. That is, in Figure 5 In this case, the user can only input the target value in the input area 102 for setting the waveform area of ​​action condition 1.

[0095] Furthermore, in the image related to the adjustment of the control parameter group, a confirmation button 103 is displayed. The confirmation button 103 is used to cause the acquisition unit 842 to accept the selection of the evaluation index and the input of the target value when the user finishes selecting the evaluation index and inputting the target value. Additionally, the confirmation button 103 is used to cause the data generation unit 843 to generate index data representing the evaluation indexes and target values ​​received by the acquisition unit 842 for each of the multiple action conditions. Furthermore, the data generation unit 843 can also generate index data if the acquisition unit 842 has acquired the selection of at least one evaluation index among the evaluation indexes for each of the multiple action conditions. That is, when the user clicks the confirmation button 103, the data generation unit 843 may not generate index data if there is an action condition where the acquisition unit 842 has not acquired the selection of any evaluation index among the evaluation indexes for each of the multiple action conditions. In such a case, the display control unit 841 can also switch from the image related to the adjustment of the control parameter group displayed on the display unit 82 to a screen displaying a warning message. Alternatively, when the user clicks the OK button 103, the data generation unit 843 may also generate indicator data by adding the evaluation indicator for the action condition represented by the recommendation data described later, if there is an action condition where the acquisition unit 842 has not acquired the selection of the evaluation indicator among the evaluation indicators of each of the multiple action conditions.

[0096] As explained above, the adjustment auxiliary device 80 adjusts the control parameter set based on at least one evaluation index selected for each action condition. Therefore, the adjustment auxiliary device 80 searches for control parameter sets that can achieve target values ​​corresponding to at least one evaluation index, thus enabling searches for control parameter sets with higher precision.

[0097] [Generation of indicator data]

[0098] Figure 6 This is a flowchart illustrating the actions of the adjustment assistance device 80 involved in the implementation when it accepts the selection of evaluation indicators and the input of target values ​​and generates indicator data.

[0099] First, the display control unit 841 displays an image related to the adjustment of the control parameter group on the display unit 82 (step S21). Furthermore, the image displayed by the display control unit 841 on the display unit 82 is an image without the selection of evaluation indicators or the input of target values. That is, the display control unit 841 displays the selection area 101 set in the waveform area column of operation condition 1 on the display unit 82. Figure 5 The image shown has been changed to the image of the selected area 101 with an empty column. Furthermore, in step S21, the image displayed on the display unit 82 by the display control unit 841 is the initially displayed image.

[0100] Next, the unit 842 accepts the selection of an evaluation index in one action condition (step S22). Then, the unit 842 accepts the input of the target value corresponding to the selected evaluation index (step S23).

[0101] Then, if the acquisition unit 842 receives the selection of other evaluation indicators in the same action conditions (yes in step S24), the acquisition unit 842 receives the input of the target value corresponding to the other evaluation indicators in the same action conditions (step S23).

[0102] Furthermore, if the acquisition unit 842 does not accept the selection of other evaluation indicators in the same action conditions (no in step S24), and the acquisition unit 842 accepts the selection of evaluation indicators in other action conditions (yes in step S25), the acquisition unit 842 accepts the input of the target value corresponding to the evaluation indicator in the selected other action conditions (step S23).

[0103] Furthermore, if the acquisition unit 842 does not accept the selection of other evaluation indicators in the same action conditions (no in step S24), and the acquisition unit 842 does not accept the selection of evaluation indicators in other action conditions (no in step S25), the data generation unit 843 generates indicator data by the user clicking the confirm button 103 (step S26).

[0104] Figure 7 It is shown in Figure 6 The flowchart shows an example of an image displayed on the display unit 82 after the acquisition unit 842 receives the selection of evaluation indicators and the input of target values.

[0105] like Figure 7 As shown, the user, for example, selects selection area 101 for setting the setpoint time in action condition 1, but does not select selection area 101 for setting the waveform area and XXX. Furthermore, the user inputs the target value in input area 102 corresponding to the selected evaluation indicator. The acquisition unit 842 accepts the selection of evaluation indicators and the input of target values ​​corresponding to the evaluation indicators for all action conditions. Then, the data generation unit 843 generates indicator data representing the evaluation indicators and target values ​​for each of the multiple action conditions accepted by the acquisition unit 842.

[0106] Figure 8 It is shown in Figure 6 A graph illustrating an example of the indicator data generated by the data generation unit 843 in step S26. Furthermore, Figure 8 This indicates that the acquisition unit 842 is from Figure 7 The image shown is an example of the evaluation metrics and target values ​​received for each action condition. Additionally, Figure 8 This diagram illustrates an example of how the acquisition unit 842 selects evaluation indicators for each of multiple action conditions, inputs target values, and establishes corresponding indicator data. Furthermore, in the "Selection Present / Present" column, "present" indicates that the acquisition unit 842 has selected an evaluation indicator, and "absent" indicates that the acquisition unit 842 has not selected an evaluation indicator. Additionally, in... Figure 8 In the evaluation index where the selected "yes" or "no" column is empty, the column corresponding to the target value is empty because the acquisition unit 842 has not received the input of the target value.

[0107] like Figure 8 As shown, for example, for action condition 1, the data generation unit 843 generates indicator data by setting the settling time to present and setting the waveform area and XXX to absent, based on the selection of evaluation indicators received by the acquisition unit 842. Furthermore, for action condition 1, the data generation unit 843 generates indicator data by setting the target value corresponding to the settling time to 7ms and setting the target values ​​corresponding to the waveform area and XXX to empty columns, based on the target value received by the acquisition unit 842. In this way, the data generation unit 843 generates indicator data representing the evaluation indicators and target values ​​received by the acquisition unit 842 for multiple action conditions.

[0108] As explained above, the data generation unit 843 generates index data representing at least one evaluation index independently set by the acquisition unit 842 for each of the multiple action conditions. Therefore, when adjusting the control parameter set, the adjustment unit 87 can search for achievable control parameter sets based on the target value corresponding to the evaluation index for each action condition represented by the index data. Thus, the adjustment assistance device 80 can perform flexible and precise adjustments to the control parameter set corresponding to each action condition, thereby obtaining a highly accurate control parameter set during adjustment.

[0109] [Variations on the generation of indicator data]

[0110] Figure 9 This is shown as replacing the selection of evaluation indicators and input of target values ​​in the adjustment auxiliary device 80 involved in the implementation embodiment. Figure 6 The flowchart shows the actions performed in step S23.

[0111] When the acquisition unit 842 receives an input corresponding to the target value of the selected evaluation index (Yes in step S31), the acquisition unit 842 receives the value input to the input area 102 as the target value (step S32).

[0112] If the acquisition unit 842 does not receive an input corresponding to the target value of the selected evaluation index (no in step S31), the acquisition unit 842 accepts the target value as 0 (step S33). If the acquisition unit 842 accepts the settling time as 0 ms, the adjustment unit 87 searches for a set of control parameters whose settling time is close to zero. Furthermore, if the acquisition unit 842 accepts the waveform area as 0, the adjustment unit 87 searches for a set of control parameters whose waveform area is close to zero.

[0113] Figure 10 It is shown in Figure 9 The flowchart shows an example of an image displayed on the display unit 82 after the acquisition unit 842 receives the selection of evaluation indicators and the input of target values.

[0114] like Figure 10 As shown, the user, for example, selects selection area 101 for setting the set time and waveform area in action condition 2, but does not select selection area 101 for setting XXX. Furthermore, the user inputs a target value in input area 102 for setting the waveform area in action condition 2, but not in input area 102 for setting the set time. The acquisition unit 842 accepts the value input in input area 102 for the waveform area as the target value, and treats the target value for the set time as 0. In this way, the acquisition unit 842 accepts the selection of evaluation indicators and the input of target values ​​corresponding to the evaluation indicators for all action conditions. Then, the data generation unit 843 generates indicator data representing the evaluation indicators and target values ​​for each of the multiple action conditions accepted by the acquisition unit 842.

[0115] Figure 11 This indicates that the acquisition unit 842 is from Figure 10 The image shown is an example of the evaluation metrics and target values ​​received for each action condition. Additionally, for... Figure 11 The presence or absence of choices in the middle, and Figure 8 The choice between them is the same.

[0116] like Figure 11 As shown, for example, for action condition 2, the data generation unit 843 generates indicator data by setting the settling time and waveform area to "yes" and setting XXX to "no" based on the selection of evaluation indicators received by the acquisition unit 842. Furthermore, for action condition 2, the data generation unit 843 generates indicator data by setting the target value corresponding to the settling time to 0ms, the target value corresponding to the waveform area to 230, and setting the target value corresponding to XXX to an empty column based on the target value received by the acquisition unit 842. In this way, the data generation unit 843 generates indicator data representing the evaluation indicators and target values ​​received by the acquisition unit 842 for multiple action conditions.

[0117] As explained above, the data generation unit 843 treats the target value that the acquisition unit 842 has not received as 0 to generate index data. Therefore, the adjustment auxiliary device 80 can adjust the control parameter group more flexibly and precisely according to each action condition.

[0118] [Range of target value setting]

[0119] In generating the aforementioned indicator data, the acquisition unit 842 can also accept target value inputs within a predetermined set range. For example, the acquisition unit 842 can also set it as not accepting target value inputs when it obtains a negative value or a very large value (e.g., a value above 10,000) from the input area 102 corresponding to the set time and waveform area. Alternatively, when the user clicks the OK button 103 and the acquisition unit 842 obtains such a value, the display control unit 841 can switch from the image related to the adjustment of the control parameter group displayed on the display unit 82 to a screen displaying a warning message. Alternatively, when the user clicks the OK button 103 and the acquisition unit 842 obtains such a value, if the value is negative, the acquisition unit 842 can set it to 0; if the value is very large, the acquisition unit 842 can set it to an upper limit value (e.g., 5000) to accept the target value. Furthermore, the upper limit value can be set numerically for each evaluation indicator.

[0120] As explained above, the adjustment auxiliary device 80 can be preset with inappropriate values ​​during adjustment, so the user can input the target value with reference to the preset range.

[0121] [Input settings for multiple axes]

[0122] In the generation of the aforementioned indicator data, the acquisition unit 842 can also process data for each of the multiple axes along which the driven object 20 moves, based on multiple action conditions. Figure 5 , Figure 7 or Figure 10 The selection of evaluation indicators and the input of target values ​​are shown. Specifically, the acquisition unit 842 can also process data for each of the X, Y, and Z axes along which the driven object 20 moves, for multiple action conditions. Figure 5 , Figure 7 or Figure 10 The selection of evaluation indicators and the input of target values ​​are shown. For example, in an image related to the adjustment of control parameter groups, by setting columns for the selection of acceptance evaluation indicators and the input of target values ​​for each of the multiple axes, the acquisition unit 842 obtains the selection of acceptance evaluation indicators and the input of target values ​​for each of the multiple axes that the driven object 20 moves.

[0123] As explained above, the adjustment auxiliary device 80 adjusts the control parameter sets for each of the multiple axes along which the driven object 20 moves, based on the selection of evaluation indicators and the input of target values. Therefore, the adjustment auxiliary device 80 can perform flexible and precise adjustments to the control parameter sets corresponding to each of the multiple axes, thus achieving a more accurate control parameter set in the adjustment process.

[0124] [Initial display of the image]

[0125] In the generation of the aforementioned indicator data, the display control unit 841 may also use an image displaying data contained in a user-pre-created CSV (Comma-Separated Values) file, etc., as a reference. Figure 6 The image displayed in step S21 is shown on the display unit 82. Furthermore, the data contained in the CSV file represents evaluation indicators and target values ​​corresponding to each of the multiple action conditions. Specifically, the acquisition unit 842 receives the data contained in the CSV file, etc., and the data generation unit 843 generates initial data representing the evaluation indicators and target values ​​corresponding to each of the multiple action conditions based on this data. Then, the display control unit 841 displays the evaluation indicators and target values ​​shown in the initial data on the display unit 82. Furthermore, the selection of evaluation indicators and the input of target values ​​based on the initial data can be changed by the user's operation of the adjustment assistance device 80.

[0126] As explained above, the display control unit 841 displays an image of the data contained in a user-prepared CSV file, etc., on the display unit 82. Therefore, the adjustment assistance device 80 can reduce the burden on the user in selecting evaluation indicators and inputting target values.

[0127] [Recommended Data]

[0128] Figure 12 This is a flowchart illustrating the operation of the display control unit 841 when it displays the evaluation indicators and target values, represented by the recommended data, on the display unit 82. Furthermore, the recommended data is data pre-stored by the data generation unit 843, and represents the evaluation indicators and target values ​​recommended in the adjustment of control parameter groups based on multiple operating conditions.

[0129] The data generation unit 843 holds the recommended data in advance (step S41).

[0130] The display control unit 841 displays the evaluation indicators and target values ​​represented by the recommended data on the display unit 82 (step S42).

[0131] Additionally, the display control unit 841 can also be in Figure 6In step S21, the evaluation index and target value represented by the recommendation data are displayed on the image displayed on the display unit 82. Specifically, the display control unit 841 may also display the evaluation index and target value represented by the recommendation data on the image displayed on the display unit 82. Figure 6 The following will be discussed in step S21. Figure 14 An example of the image shown is displayed on display unit 82.

[0132] Figure 13 It is shown in Figure 12 This is a diagram showing an example of the recommended data held by the data generation unit 843 in step S41. Additionally, in the "Selection Present / About" column, "present" indicates that the data generation unit 843 recommends selecting the evaluation index when adjusting the control parameter group, while "absent" indicates that the data generation unit 843 does not recommend selecting the evaluation index when adjusting the control parameter group.

[0133] like Figure 13 As shown, the data generation unit 843 retains recommended data representing evaluation indicators and target values ​​recommended in the adjustment of control parameter groups for multiple operating conditions. For example, if the data generation unit 843 recommends using the settling time as an evaluation indicator for operating condition 1, the data generation unit 843 retains recommended data that sets the settling time to "yes" and the waveform area and XXX to "no". Furthermore, if the data generation unit 843 recommends setting the target value for the settling time to 5ms for operating condition 1, it retains recommended data that sets the target value to 5ms. In this way, the data generation unit 843 retains in advance recommended data representing evaluation indicators and target values ​​recommended in the adjustment of control parameter groups for multiple operating conditions.

[0134] Figure 14 It is shown in Figure 12 The image displayed on the display unit 82 by the display control unit 841 in step S42 is shown in the figure. Figure 14 This shows the display control unit 841 based on Figure 13 The recommended data shown is displayed in the example diagram on display unit 82.

[0135] like Figure 14 As shown, the display control unit 841 will control the display in Figure 13 The image shown on the display unit 82 is displayed where the selection area 101 corresponding to the selected evaluation index (whether it is present or absent) is selected and the target value is entered in the input area 102. Additionally, Figure 14 The display mode of selection area 101 and the input content of input area 102 can be changed by the user's operation of adjustment assistance device 80. For example, the user can deselect the evaluation index based on recommendation data or select another evaluation index. In addition, the user can also change the input content of the target value based on recommendation data.

[0136] As explained above, the display control unit 841 displays the evaluation index and target value represented by the recommended data on the display unit 82, so that the user can make adjustments according to each action condition with reference to the recommended evaluation index and target value.

[0137] [Data not required]

[0138] Figure 15 This is a flowchart illustrating the operation of the display control unit 841 when it displays evaluation indicators and target values ​​represented by unnecessary data on the display unit 82. Furthermore, the "unnecessary data" refers to data pre-stored by the data generation unit 843, and specifically data representing evaluation indicators that are not needed in the adjustment of control parameter groups based on multiple operating conditions.

[0139] The data generation unit 843 holds up any unnecessary data in advance (step S51).

[0140] The display control unit 841 displays an image indicating that the selection of an evaluation indicator represented by unwanted data and the input of the target value corresponding to that evaluation indicator cannot be performed (step S52). Alternatively, the image indicating that the selection of an evaluation indicator and the input of the target value cannot be performed may be an image in grayscale displaying the selection area 101 and the input area 102 corresponding to the unwanted evaluation indicator. Furthermore, the image indicating that the selection of an evaluation indicator and the input of the target value cannot be performed may also be an image in which the selection area 101 and the input area 102 corresponding to the unwanted evaluation indicator are not displayed. Further, the image indicating that the selection of an evaluation indicator and the input of the target value cannot be performed may also be an image in which the selection area 101 and the input area 102 corresponding to the unwanted evaluation indicator are displayed with dashed lines.

[0141] In addition, the display control unit 841 can also be controlled via... Figure 6 In step S21, the image displayed on the display unit 82 shows an image indicating that the selection of an evaluation index that cannot be represented by unnecessary data and the input of the target value corresponding to that evaluation index are not possible. Specifically, the display control unit 841 may also... Figure 6 The following will be discussed in step S21. Figure 17 An example of the image shown is displayed on display unit 82.

[0142] Furthermore, the display control unit 841 can also display the evaluation index and target value represented by recommended data on the display unit 82, which cannot display the image of the image where the selection of the evaluation index represented by the data is not possible and the input of the target value corresponding to the evaluation index is not possible.

[0143] Figure 16 It is shown in Figure 15This is a diagram illustrating an example of unwanted data held by the data generation unit 843 in step S51. Furthermore, in the "Needed / Unnecessary" column, "Needed" indicates that the data generation unit 843 sets a required evaluation indicator for adjusting the control parameter group, while "Unnecessary" indicates that the data generation unit 843 sets an unwanted evaluation indicator for adjusting the control parameter group. Furthermore, an evaluation indicator set as required may, for example, be an evaluation indicator that affects the adjustment of the control parameter group or is suitable for the adjustment of the control parameter group. Conversely, an evaluation indicator set as unnecessary may, for example, be an evaluation indicator that does not affect the adjustment of the control parameter group or is unsuitable for the adjustment of the control parameter group.

[0144] like Figure 16 As shown, the data generation unit 843 generates unwanted data representing evaluation indicators that are set to be unnecessary in the adjustment of the control parameter group according to multiple operating conditions. For example, if the data generation unit 843 sets the settling time to be unnecessary for operating condition 1, the data generation unit 843 reserves unwanted data in advance, setting the settling time to be unnecessary and the waveform area and XXX to be necessary. In this way, the data generation unit 843 reserves unwanted data in advance representing evaluation indicators that are set to be unnecessary in the adjustment of the control parameter group according to multiple operating conditions.

[0145] Figure 17 It is shown in Figure 15 In step S52, the display control unit 841 displays an example of the image displayed on the display unit 82. Additionally, Figure 17 It will be with Figure 16 The image shown is an example of a selection area 101 corresponding to the evaluation index that is set as unnecessary in the data that is not needed, and an input area 102 corresponding to the evaluation index, which is displayed with dashed lines.

[0146] like Figure 17 As shown, the display control unit 841 displays the information to be displayed on the display unit 82. Figure 16 The image shown depicts a selection area 101 for setting action conditions corresponding to unwanted evaluation indicators in the unwanted data, and an input area 102 corresponding to the selection area 101, displayed with dashed lines. Users cannot select the selection area 101 displayed with dashed lines, nor can they input target values ​​in the input area 102 displayed with dashed lines.

[0147] As explained above, the display control unit 841 displays an image on the display unit 82 indicating that the selection of evaluation indicators and the input of target values ​​that do not require data representation cannot be performed. Therefore, the user can adjust the evaluation indicators and target values ​​required for each action condition.

[0148] [Effect]

[0149] The adjustment assistance device 80 according to this embodiment assists in adjusting the set of control parameters required by the servo control device 40 when the servo control device 40 controls the servo motor 30. The adjustment assistance device 80 includes a display control unit 841, an acquisition unit 842, and a data generation unit 843. The display control unit 841 displays images related to the adjustment on the display unit 82. The acquisition unit 842 accepts the selection from multiple evaluation indicators set for multiple action conditions related to the movement of the driven object 20 moved by the servo motor 30, and accepts the input of target values ​​corresponding to the selected evaluation indicators, which are set for each of the multiple action conditions. The data generation unit 843 generates indicator data, which represents the evaluation indicators and target values ​​acquired by the acquisition unit 842 for each of the multiple action conditions.

[0150] According to this structure, the data generation unit 843 generates index data representing at least one evaluation index independently set for each of the multiple operating conditions. Therefore, when adjusting the control parameter set, the adjustment unit 87 can search for achievable control parameter sets based on the target values ​​corresponding to the evaluation indexes for each operating condition represented by the index data. Thus, the adjustment assistance device 80 can perform flexible and precise adjustments to the control parameter set corresponding to each operating condition, thereby obtaining a highly accurate control parameter set during adjustment. Therefore, the adjustment assistance device 80 can provide thoughtful assistance to the user when making minor adjustments to the production device 10.

[0151] Furthermore, in the adjustment assistance device 80 according to this embodiment, the data generation unit 843 stores in advance recommended data that represents the evaluation index and target value recommended in the adjustment based on multiple operating conditions, and the display control unit 841 further displays the evaluation index and target value represented by the recommended data on the display unit 82.

[0152] According to this structure, the display control unit 841 displays the evaluation indicators and target values, represented by recommended data, on the display unit 82. Therefore, the user can make adjustments with reference to the recommended evaluation indicators and target values ​​for each operating condition. Thus, the adjustment assistance device 80 provides thoughtful assistance to the user when making minor adjustments to the production device 10.

[0153] Furthermore, in the adjustment assist device 80 according to this embodiment, the data generation unit 843 stores in advance unwanted data representing evaluation indicators that are set as needed in the adjustment according to multiple operating conditions, and the display control unit 841 displays an image on the display unit 82 representing that the selection of evaluation indicators represented by unwanted data cannot be performed and the input of the target value corresponding to the evaluation indicators represented by unwanted data.

[0154] According to this structure, the display control unit 841 displays an image on the display unit 82 indicating that the selection of evaluation indicators that do not require data representation and the input of target values ​​cannot be performed. Therefore, the user can make adjustments according to the evaluation indicators and target values ​​required for each operation condition. Thus, the adjustment assistance device 80 can provide thoughtful assistance to the user when making fine adjustments to the production device 10.

[0155] Furthermore, in the adjustment assistance device 80 according to this embodiment, the acquisition unit 842 accepts the input of the target value within a predetermined setting range.

[0156] According to this structure, the adjustment assistance device 80 can be preset with inappropriate values ​​during adjustment, so the user can input the target value with reference to the preset range. Thus, the adjustment assistance device 80 can provide thoughtful assistance to the user when making fine adjustments to the production device 10.

[0157] Furthermore, in the adjustment assistance device 80 according to this embodiment, the data generation unit 843 generates index data when the acquisition unit 842 acquires the selection of at least one evaluation index among the evaluation indicators of each of the multiple operation conditions.

[0158] According to this structure, the adjustment assistance device 80 adjusts the control parameter set based on at least one evaluation index selected according to each action condition. Thus, the adjustment assistance device 80 searches for control parameter sets that can achieve target values ​​corresponding to at least one evaluation index, thereby enabling searches for control parameter sets with higher precision. Therefore, the adjustment assistance device 80 can provide thoughtful assistance to the user when making fine adjustments to the production device 10.

[0159] Furthermore, in the adjustment assistance device 80 according to this embodiment, the data generation unit 843 generates index data by treating the target value as 0 when the acquisition unit 842 does not receive an input for the target value of the acquired evaluation index.

[0160] According to this structure, the data generation unit 843 treats the target value not received by the acquisition unit 842 as 0 to generate index data. Therefore, the adjustment assistance device 80 can adjust the control parameter set more flexibly and precisely according to each action condition. Thus, the adjustment assistance device 80 can provide thoughtful assistance to the user when making minor adjustments to the production device 10.

[0161] Furthermore, in the adjustment assistance device 80 according to this embodiment, the acquisition unit 842 accepts the selection of evaluation indicators and the input of target values ​​for each of the multiple axes that the driven object 20 moves.

[0162] Based on this structure, the adjustment auxiliary device 80 adjusts the control parameter set for each of the multiple axes along which the driven object 20 moves, based on the selection of evaluation indicators and the input of target values. Therefore, the adjustment auxiliary device 80 can perform flexible and precise adjustments corresponding to each of the multiple axes, thus achieving a more accurate control parameter set. Consequently, the adjustment auxiliary device 80 provides thoughtful assistance to the user when making minor adjustments to the production device 10.

[0163] Furthermore, the adjustment assistance method involved in this embodiment is executed by a computer, which assists in adjusting the set of control parameters required by the servo control device 40 when the servo control device 40 controls the servo motor 30. This adjustment assistance method includes a display control step, an acquisition step, and a data generation step. The display control step displays an image related to the adjustment on the display unit 82. The acquisition step accepts the selection from multiple evaluation indicators set for multiple action conditions related to the movement of the driven object 20 moved by the servo motor 30, and accepts the input of target values ​​corresponding to the selected evaluation indicators, which are set for each of the multiple action conditions. The data generation step generates indicator data, which represents the evaluation indicators and target values ​​obtained by the acquisition step for each of the multiple action conditions.

[0164] According to this configuration, the adjustment assistance method generates index data representing at least one evaluation index independently set for each of multiple action conditions. Therefore, when adjusting the control parameter set, the adjustment assistance method can search for achievable control parameter sets based on the target values ​​corresponding to the evaluation indexes represented by the index data. Thus, the adjustment assistance method can perform flexible and precise adjustments to the control parameter set corresponding to each action condition, thereby obtaining a highly accurate control parameter set. Therefore, the adjustment assistance method can provide thoughtful assistance to the user when making minor adjustments to the production device 10.

[0165] Furthermore, the program involved in this embodiment executes the steps included in the adjustment assistance method via the computer.

[0166] According to this configuration, the computer generates index data representing at least one evaluation index independently set for each of multiple action conditions. Therefore, when adjusting the control parameter set, the computer can search for achievable control parameter sets based on the target values ​​corresponding to the evaluation indexes represented by the index data. Thus, the computer can perform flexible and precise adjustments to the control parameter set corresponding to each action condition, thereby obtaining a highly accurate control parameter set. Consequently, the computer can provide thoughtful assistance to the user when making minor adjustments to the production device 10.

[0167] [Variation Example]

[0168] The above description addresses one or more adjustment aids based on the aforementioned embodiments, but 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, and combinations of constituent elements from different embodiments, are also included within the scope of the one or more embodiments.

[0169] Furthermore, in the above embodiments, each component may be constructed using 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 or processor reading and executing software programs recorded on a recording medium such as a hard disk or semiconductor memory.

[0170] In addition, some or all of the functions of the adjustment auxiliary device involved in the above embodiments can be implemented by executing programs through a processor such as a CPU.

[0171] 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.

[0172] [Postscript]

[0173] Based on the above description of the embodiments, the following technology is disclosed.

[0174] (Technology 1) An adjustment assist device (80) assists in adjusting a set of control parameters required by a servo control device (40) when the servo control device (40) controls a servo motor (30), comprising: a display control unit (841) that displays an image related to the adjustment on a display unit (82); an acquisition unit (842) that accepts selection from a plurality of evaluation indicators set for a plurality of motion conditions related to the motion of a driven object (20) moving by the servo motor (30), and accepts input of a target value corresponding to the selected evaluation indicator set for each of the plurality of motion conditions; and a data generation unit (843) that generates indicator data, the indicator data representing the evaluation indicators and the target values ​​acquired by the acquisition unit (842) for each of the plurality of motion conditions.

[0175] (Technology 2) In the adjustment assist device (80) described in Technology 1, the data generation unit (843) holds in advance recommended data representing the evaluation index and the target value recommended in the adjustment according to the plurality of operating conditions, and the display control unit (841) further displays the evaluation index and the target value represented by the recommended data on the display unit (82).

[0176] (Technology 3) In the adjustment assist device (80) described in Technology 1 or 2, the data generation unit (843) holds in advance unwanted data representing the evaluation indicators that are set as unwanted in the adjustment according to the multiple operating conditions, and the display control unit (841) displays an image on the display unit (82) representing that the selection of the evaluation indicator represented by the unwanted data cannot be performed and the input of the target value corresponding to the evaluation indicator represented by the unwanted data.

[0177] (Technology 4) In the adjustment assistance device (80) described in any of Technologies 1 to 3, the acquisition unit (842) accepts the input of the target value within a predetermined setting range.

[0178] (Technology 5) In the adjustment assistance device (80) described in any of Technologies 1 to 4, the data generation unit (843) generates the index data when the acquisition unit (842) acquires the selection of at least one of the evaluation indicators among the evaluation indicators of each of the plurality of operation conditions.

[0179] (Technology 6) In the adjustment assistance device (80) described in any of Technologies 1 to 5, the data generation unit (843) generates the index data by treating the target value as 0 when the acquisition unit (842) does not receive the input for the target value of the acquired evaluation index.

[0180] (Technology 7) In the adjustment auxiliary device (80) described in any of Technologies 1 to 6, the acquisition unit (842) accepts the selection of the evaluation index and the input of the target value for each of the plurality of axes along which the driven object (20) moves.

[0181] (Technology 8) An adjustment assistance method, executed by a computer, the computer assisting in adjusting a set of control parameters required by the servo control device (40) when the servo control device (40) controls the servo motor (30), comprising: a display control step, displaying an image related to the adjustment on a display unit (82); an acquisition step, accepting a selection from a plurality of evaluation indicators set for a plurality of motion conditions related to the motion of a driven object (20) moving by the servo motor (30), accepting input of a target value corresponding to the selected evaluation indicator set for the plurality of motion conditions respectively; and a data generation step, generating indicator data, the indicator data representing the evaluation indicators and the target values ​​obtained by the acquisition step for the plurality of motion conditions respectively.

[0182] (Technology 9) A program for causing the computer to perform the adjustment assistance method described in Technology 8.

[0183] Industrial availability

[0184] The adjustment auxiliary device, adjustment auxiliary method, and procedure disclosed herein are useful, for example, as devices to assist in adjusting the control parameter set required when a servo control device controls a servo motor.

[0185] Explanation of reference numerals in the attached figures

[0186] 10 Production Units

[0187] 20 Driving Objects

[0188] 30 servo motors

[0189] 40 Servo Control Device

[0190] 41. Servo Information Acquisition Department

[0191] 42 Servo Information Output Unit

[0192] 43 Storage Department

[0193] 44 Control Department

[0194] 50 encoder

[0195] 60 sensors

[0196] 70 Sensor Information Collection Device

[0197] 80 Adjust auxiliary devices

[0198] 81 Operations Department

[0199] 82 Display Section

[0200] 83 Storage Department

[0201] 84 Control Department

[0202] 85 Setting Department

[0203] 86 Action Result Acquisition Department

[0204] 87 Adjustment Department

[0205] 88 Adjustment Result Output Section

[0206] 89 Servo Information Output Unit

[0207] 101 Select Area

[0208] 102 Input Area

[0209] 103 OK button

[0210] 841 Display Control Unit

[0211] 842 Acquisition Department

[0212] 843 Data Generation Department

[0213] 1000 Production System.

Claims

1. An adjustment auxiliary device for assisting in adjusting a set of control parameters required by a servo control device when controlling a servo motor, comprising: The display control unit displays an image related to the adjustment. The acquisition unit accepts selection from multiple evaluation indicators set for multiple motion conditions related to the movement of a driven object moved by the servo motor, and accepts input of target values ​​corresponding to the selected evaluation indicators, which are set for each of the multiple motion conditions; and The data generation unit generates indicator data, which represents the evaluation indicators and target values ​​obtained by the acquisition unit for the multiple action conditions.

2. The adjustment auxiliary device according to claim 1, wherein, The data generation unit pre-stores recommended data representing the evaluation indicators and target values ​​recommended in the adjustment based on the multiple action conditions. The display control unit further displays the evaluation index represented by the recommended data and the target value on the display unit.

3. The adjustment auxiliary device according to claim 1 or 2, wherein, The data generation unit pre-stores unwanted data representing the evaluation indicators that are set as unnecessary in the adjustment based on the multiple action conditions. The display control unit displays an image on the display unit indicating that the selection of the evaluation index represented by the unwanted data is not possible, and the input of the target value corresponding to the evaluation index represented by the unwanted data is not possible.

4. The adjustment auxiliary device according to claim 1 or 2, wherein, The acquisition unit accepts the input of the target value within a predetermined set range.

5. The adjustment auxiliary device according to claim 1 or 2, wherein, The data generation unit generates the indicator data when the acquisition unit obtains the selection of at least one of the evaluation indicators among the evaluation indicators of each of the plurality of action conditions.

6. The adjustment auxiliary device according to claim 1 or 2, wherein, If the acquisition unit does not receive an input for the target value of the acquired evaluation indicator, the data generation unit will treat the target value as 0 to generate the indicator data.

7. The adjustment auxiliary device according to claim 1 or 2, wherein, The acquisition section accepts the selection of the evaluation index and the input of the target value for each of the multiple axes along which the driven object moves.

8. An adjustment assistance method, executed by a computer, wherein the computer assists in adjusting a set of control parameters required by a servo control device when the servo control device controls a servo motor, the adjustment assistance method comprising: The display control steps include displaying an image related to the adjustment on the display unit; The acquisition step involves accepting a selection from multiple evaluation indicators set for multiple motion conditions related to the motion of a driven object moving via the servo motor, and accepting input of target values ​​corresponding to the selected evaluation indicators, which are set for the multiple motion conditions respectively. and The data generation step generates indicator data, which represents the evaluation indicators and target values ​​obtained by the acquisition step for the multiple action conditions.

9. A program for causing the computer to perform the adjustment assistance method of claim 8.

Images