Adjustment assistance method, program, and adjustment assistance system

Abstract

The adjustment assistance method includes a constraint reception step and a first adjustment step. In the constraint reception step, input of a motor constraint condition is received. In the first adjustment step, in order to adjust one or more parameters set to the control device (3), the control device (3) is caused to perform a first drive control for testing. In the constraint reception step, as the motor constraint condition, input of a first motor constraint condition applied to the first drive control and a second motor constraint condition applied to a second drive control for actual operation are individually received. In the first adjustment step, the control device (3) is caused to perform the first drive control so as to satisfy the first motor constraint condition received in the constraint reception step.

Description

Technical Field

[0001] This disclosure generally relates to adjustment assistance methods, procedures, and adjustment assistance systems. More specifically, this disclosure relates to adjustment assistance methods, procedures, and adjustment assistance systems related to the adjustment of a control device that assists in controlling the drive of a motor connected to a load. Background Technology

[0002] Patent Document 1 discloses a servo adjustment method for a motor drive device. Patent Document 1 describes a structure that allows the automatic adjustment function of the motor drive device to be controlled simultaneously by a servo adjustment unit. The servo adjustment unit includes a servo adjustment process comprising any one of five steps: Step 1 to Step 5. Step 1 is an initial setting performed before Steps 2 to 5. In Step 1, information related to the controlled object is input, and initial conditions and function activation / deactivation selections are made for the adjustment steps after Step 2. Step 2 is a load characteristic measurement step. Step 3 is a rigidity setting function adjustment step. In Step 3, a test run is performed in conjunction with Step 2. Step 4 is a command response measurement step. Step 5 is a final setting step. Furthermore, the servo adjustment process includes a step where, after repeated fine adjustments and test runs, the final adjustment result is saved to the motor drive device. Additionally, in Step 1, quantitative measurement thresholds such as maximum torque limits are input to output initial conditions. In step 2, the operating conditions used in subsequent adjustment steps are changed based on whether the evaluation index related to the measured torque command is below or exceeds the maximum torque limit specified in step 1.

[0003] Prior art literature

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2019-37129 Summary of the Invention

[0006] However, whether the motor's torque (or thrust) and speed become excessive during operation depends not only on the operating conditions but also on the overall characteristics (inertia, friction characteristics, vibration characteristics) and parameter settings of the device as a whole (equipment) including the motor and the load connected to it. Regarding the parameter settings mentioned here, examples include settings related to the aforementioned device characteristics (inertia ratio, parameter values ​​related to friction characteristics), settings related to feedback control (the value of feedback control gain, the presence or absence of filters such as notch filters, and their parameter values), and settings related to feedforward control (the parameter values ​​of second-order hysteresis filters for commands, the presence or absence of vibration damping filters, and their parameter values).

[0007] Furthermore, it's impossible to know whether the motor's torque and speed will become excessive during parameter adjustment, thus failing to actually drive the motor to actuate the load's movable part (drive unit). Therefore, users need to pre-set limit values ​​for the motor's torque and speed before adjustment. At this time, to reduce the risk of device malfunction during parameter adjustment, sometimes limit values ​​different from the actual limit values ​​(specification values) of the complete equipment are set. As a result of this setting, after adjustment, the user needs to manually change the limit value to the actual limit value, potentially leading to user errors such as incorrect limit setting or resetting.

[0008] This disclosure provides adjustment assistance methods, procedures, and adjustment assistance systems that can reduce the possibility of user errors during parameter adjustment.

[0009] One aspect of this disclosure relates to an adjustment assistance method for an adjustment assistance system that assists in adjusting a control device related to the control of a motor drive connected to a load. In the control device, a first drive control for testing is performed to control the motor drive based on action commands from the adjustment assistance system, and a second drive control for actual operation of the motor drive is performed based on action commands from an external device different from the adjustment assistance system. The adjustment assistance method includes a constraint acceptance step and a first adjustment step. In the constraint acceptance step, inputs of motor constraint conditions related to at least one of the motor's torque or thrust and the motor's speed are accepted. In the first adjustment step, the control device performs the first drive control to adjust one or more parameters set for the control device. In the constraint acceptance step, inputs of a first motor constraint condition applied to the first drive control and a second motor constraint condition applied to the second drive control are accepted separately as motor constraint conditions. In the first adjustment step, the control device performs the first drive control such that the first motor constraint condition accepted in the constraint acceptance step is satisfied.

[0010] One aspect of this disclosure relates to a program for causing one or more processors to execute the aforementioned adjustment assistance method.

[0011] One aspect of this disclosure relates to an adjustment assistance system that assists in adjusting a control device related to the drive of a motor connected to a load. The control device performs a first drive control for testing, based on action commands from the adjustment assistance system, to control the drive of the motor; and a second drive control for actual operation, based on action commands from an external device different from the adjustment assistance system. The adjustment assistance system includes a constraint receiving unit and an adjustment unit. The constraint receiving unit receives inputs of motor constraint conditions related to at least one of the motor's torque or thrust, and the motor's speed. The adjustment unit causes the control device to perform the first drive control in order to adjust one or more parameters set on the control device. As the motor constraint conditions, the constraint receiving unit separately receives inputs of a first motor constraint condition applied to the first drive control and a second motor constraint condition applied to the second drive control. The adjustment unit causes the control device to perform the first drive control such that the first motor constraint condition received by the constraint receiving unit is satisfied.

[0012] The adjustment assistance method, procedure, and adjustment assistance system disclosed herein have the advantage of reducing the possibility of user errors during parameter adjustment. Attached Figure Description

[0013] Figure 1 It is a structural diagram of the overall system including the adjustment assistance system and the drive system involved in one embodiment.

[0014] Figure 2 This is the structural block diagram of the aforementioned drive system.

[0015] Figure 3A This is a structural block diagram of a communication terminal equipped with the aforementioned adjustment auxiliary system.

[0016] Figure 3B This is the structural block diagram of the aforementioned adjustment auxiliary system.

[0017] Figure 4 It is a schematic cross-sectional view of the complete set of equipment, including the motor and the load.

[0018] Figure 5 This is a concept image of the main settings screen in the aforementioned adjustment assistance system.

[0019] Figure 6 This is a concept diagram showing the detailed settings related to the protection functions in the aforementioned adjustment assistance system.

[0020] Figure 7 This is a concept diagram of the detailed settings screen related to the action commands in the aforementioned adjustment assistance system.

[0021] Figure 8 This is a flowchart related to the actions in the aforementioned adjustment assistance system. Detailed Implementation

[0022] (summary)

[0023] The following description, using accompanying drawings, details the adjustment assistance methods, procedures, and systems involved in the embodiments and modifications. Furthermore, the embodiments and modifications described below are merely one of many embodiments of this disclosure. Moreover, the embodiments and modifications described below can be modified in various ways, depending on the design, as long as the objectives of this disclosure are achieved. Additionally, the configurations of the modifications can be appropriately combined.

[0024] The figures described in the following embodiments and variations are schematic diagrams, and the ratios of the size and thickness of each component may not reflect the actual size ratios.

[0025] The adjustment assistance method involved in this embodiment is an adjustment assistance system 1 that assists in making adjustments related to the control device 3 (refer to...). Figure 1 The adjustment method is as follows: the control device 3 controls the drive of the motor M1 connected to the load 4.

[0026] In other words, the adjustment method is for drive system 2 (refer to...) Figure 1 The relevant adjustments will be made using auxiliary adjustment methods.

[0027] like Figure 1 , Figure 2 As shown, the drive system 2 includes: an assembly B1 comprising a motor M1 (e.g., a servo motor) and a load 4 (load device), a position detector 5, and a control device 3 (e.g., a servo amplifier A1). The load 4 (load device) is driven by the power of the motor M1. The position detector 5 performs detection related to the position of the motor M1. The control device 3 provides control input to the assembly B1, which is the controlled object. That is, the control device 3 determines the control value of the motor M1 based on the command value and the detection value of the position detector 5, and controls the motor M1 so that the load 4 performs the given action. Details will be described later, but as... Figure 2 As shown, the control device 3 includes, for example, a position / speed control unit 30 and a current control unit 31.

[0028] The drive system 2 can be used in facilities such as factories for installing semiconductor components, processing components, or transporting products and semi-finished products. The load 4 can be, for example, a unit including a positioning worktable (workbench) that uses the motor M1 as a drive source. In the following embodiments, as an example, it is envisioned that the motor M1 is a rotary servo motor, and there is only one of them. Furthermore, as an example, it is envisioned that the load 4 is, for example, a movable part 41 (see reference 41) driven by a ball screw mechanism connected to the rotary servo motor (motor M1). Figure 4 A single-axis (1-axis) unit that positions a workpiece by moving linearly along the X-axis (worktable). That is, the rotary motion transmitted from the output shaft of a rotary servo motor can be converted into linear motion, for example, by a ball screw mechanism.

[0029] However, motor M1 is not limited to a rotary servo motor, but can also be a linear servo motor. Furthermore, the number of motors M1 is not limited to one. Additionally, the complete set of equipment B1 is not limited to a single axis (1 axis), but can also be a multi-axis unit such as a frame mechanism.

[0030] In the following embodiment, the function of the control device 3 is set in the servo amplifier A1 (refer to) that drives and controls the motor M1 (servo motor). Figure 1 ).

[0031] Here, the user of drive system 2 can, for example, perform a preliminary action confirmation to verify whether drive system 2 can perform the desired action before actually operating drive system 2. For this preliminary action confirmation, the user can use communication terminal 7 (user interface). Communication terminal 7 is equipped with functions for adjusting auxiliary system 1.

[0032] Users sometimes use a communication terminal 7 equipped with the adjustment assistance system 1 to input operating conditions related to the drive system 2 as initial settings, causing the drive system 2 to perform test runs. The adjustment assistance system 1 has the function of automatically adjusting various parameters through the execution of test runs. In addition to the parameters determined by the automatic adjustment performed by the adjustment assistance system 1, there may also be parameters that can be directly input by the user via the communication terminal 7.

[0033] Regarding various parameters, as mentioned above, values ​​related to device characteristics (i.e., characteristics of the complete set of equipment B1) (inertia ratio, parameter values ​​related to friction characteristics), settings related to feedback control against disturbances (value of feedback control gain, whether or not filters such as notch filters are used, and their parameter values), and settings related to feedforward control for the speed of action (parameter values ​​of second-order hysteresis filters for commands, whether or not vibration damping filters are used, and their parameter values).

[0034] As an example of communication terminal 7, besides Figure 1 In addition to the laptop PCs shown, other examples include tablet PCs, desktop PCs, and industrial PCs.

[0035] The user performs test runs of the complete set of equipment B1 by adjusting the auxiliary system 1, and confirms on the screen of the communication terminal 7 whether the expected performance, such as the stabilization time as an evaluation indicator, meets the expected target value (target time). If the target value is not met, fine-tuning of the parameters is performed. The stabilization time is the delay time relative to the actual action of the action command (position command), that is, the time from the completion of the position command until the position deviation converges to a stable range that is within the allowable accuracy. The user can use the adjustment auxiliary system 1 to gradually bring the parameters closer to the appropriate value by performing test runs and fine-tuning the parameters several times.

[0036] In the following embodiments, as action commands, we envision action commands originating from the adjustment assistance system 1 and from an external device different from the adjustment assistance system 1 (here, as an example, Figure 1 The operation commands of the upper controller 6 shown. That is, in the control device 3, a first drive control for testing is performed to control the drive of motor M1 based on the operation commands from the adjustment auxiliary system 1, and a second drive control is performed to control the actual operation of the drive of motor M1 based on the operation commands from an external device (upper controller 6) different from the adjustment auxiliary system 1.

[0037] Additionally, in the adjustment auxiliary system 1, it is also possible to select action commands from an external device (host controller 6) and confirm the action. When such an action command is selected, the second drive control for actual operation is implemented.

[0038] However, in such adjustment work, if the torque and speed settings of motor M1 are different from the actual limit values, the limit values ​​need to be changed before and after the adjustment. This may lead to user errors such as setting or restoring the limit values ​​incorrectly.

[0039] Therefore, the adjustment assistance method according to this embodiment includes a constraint acceptance step and a first adjustment step. In the constraint acceptance step, inputs of motor constraint conditions related to at least one of the torque or thrust of motor M1 and the speed of motor M1 are accepted. In the first adjustment step, the control device 3 performs first drive control in order to adjust one or more parameters set on the control device 3. In the constraint acceptance step, as motor constraint conditions, inputs of a first motor constraint condition applied to the first drive control and a second motor constraint condition applied to the second drive control are accepted separately. In the first adjustment step, the control device 3 performs first drive control to satisfy the first motor constraint condition accepted in the constraint acceptance step. In addition, if (as in the embodiment described below) motor M1 is a rotary servo motor, then the above-mentioned "torque or thrust of motor M1" is "torque of motor M1", and if motor M1 is a linear servo motor, then the above-mentioned "torque or thrust of motor M1" is "thrust of motor M1". In addition, the first adjustment step may be subdivided into multiple adjustment steps according to each type of parameter.

[0040] According to the adjustment assistance method of this embodiment, in the constraint acceptance step, the adjustment assistance system 1 separately accepts the inputs of the first motor constraint condition and the second motor constraint condition. Furthermore, in the first adjustment step, the adjustment assistance system 1 causes the control device 3 to perform first drive control, thereby satisfying the first motor constraint condition. Therefore, the first motor constraint condition and the second motor constraint condition can be easily set and managed separately, reducing the possibility of user errors. As a result, the adjustment assistance method according to the above embodiment has the advantage of reducing the possibility of user errors during parameter adjustment.

[0041] The adjustment assistance method described in this embodiment is used on a computer system (adjustment assistance system 1). That is, the adjustment assistance method described in this embodiment can also be implemented using a computer program. The program described in this embodiment is a program for causing one or more processors to execute the adjustment assistance method described in this embodiment. The program can also be recorded on a non-transitory recording medium that can be read by a computer.

[0042] Furthermore, the adjustment assistance system 1 according to this embodiment assists in making adjustments related to the control device 3 described above. For example... Figure 3BAs shown, the adjustment auxiliary system 1 includes a constraint receiving unit 12 and an adjustment unit 11. The constraint receiving unit 12 receives inputs of motor constraint conditions related to at least one of the torque or thrust of the motor M1 and the speed of the motor M1. The adjustment unit 11 causes the control device 3 to perform first drive control in order to adjust one or more parameters set for the control device 3. As motor constraint conditions, the constraint receiving unit 12 separately receives inputs of a first motor constraint condition applied to the first drive control and a second motor constraint condition applied to the second drive control. The adjustment unit 11 causes the control device 3 to perform first drive control so that the first motor constraint condition received in the constraint receiving unit 12 is satisfied.

[0043] The adjustment assistance system 1 described in this embodiment also has the advantage of reducing the possibility of user errors during parameter adjustment.

[0044] In the following implementation, it is envisioned that all the functions of the adjustment auxiliary system 1 are set in the communication terminal 7 (refer to...). Figure 1 However, the multiple functions of the adjustment auxiliary system 1 can be located in a device other than the communication terminal 7. For example, the multiple functions of the adjustment auxiliary system 1 can also be distributed across multiple devices.

[0045] (Details)

[0046] (1) Overall structure

[0047] Hereinafter, the system including the adjustment assistance system 1 (communication terminal 7), drive system 2, and its surrounding structure as described in this embodiment will be referred to. Figures 1-4 Let me explain in detail. Figure 1 This is a structural diagram of the overall system including the adjustment assistance system 1 and the drive system 2 involved in this embodiment. Figure 2 This is a block diagram of the drive system 2. Figure 3A This is a structural block diagram of a communication terminal 7 equipped with an adjustment auxiliary system 1. Figure 3B This is the structural block diagram of the adjustment auxiliary system 1. Figure 4 It is a schematic cross-sectional view of the complete equipment B1, including motor M1 and load 4.

[0048] The adjustment auxiliary system 1 is configured to assist in making adjustments related to the control device 3. Specifically, the adjustment auxiliary system 1 performs a series of actions as follows: while performing a test run of the drive system 2, it adjusts various parameters set on the control device 3 of the drive system 2; after confirming that the operation is safe, it performs actual operation to verify the operation. The surrounding structure is, for example, the host controller 6. The host controller 6 is an example of an external device different from the adjustment auxiliary system 1.

[0049] Hereinafter, the test operation of the drive system 2, which is executed according to the action command (command position) from the adjustment auxiliary system 1 (communication terminal 7), will sometimes be referred to as "test operation". In addition, the actual operation of the drive system 2, which is related to normal operation and performs tasks such as positioning of the object (workpiece) according to the action command (position command) from the upper controller 6, will sometimes be referred to as "operation operation".

[0050] Tests can be performed in facilities such as factories, during the introduction or relocation of the drive system 2, after the assembly of various devices of the drive system 2. Furthermore, tests can be performed during routine maintenance of the drive system 2, after a malfunction has occurred in the drive system 2 and been confirmed and corrected, or after the replacement of devices or components of the drive system 2.

[0051] It is also possible to perform test actions even when the upper controller 6 is not available due to reasons such as incomplete setup of the upper controller 6 (that is, the upper controller 6 is not communicatively connected to the control device 3).

[0052] The adjustment assistance method and adjustment assistance system 1 disclosed herein can be applied not only to test actions but also to operational actions. That is, the user can use the adjustment assistance system 1 to select, for example, a test action or an operational action to drive the drive system 2.

[0053] (2) Drive system

[0054] like Figure 1 , Figure 2 As shown, the drive system 2 includes a complete set of equipment B1, a position detector 5, and a control device 3 (servo amplifier A1). The complete set of equipment B1 includes a motor M1 and a load 4 (load device). Sometimes, external sensors (e.g., laser displacement gauges for measuring the displacement (movement) of the motor M1 and the load 4) are also applied to the drive system 2 to confirm / measure the movement of the motor M1 and the load 4.

[0055] Motor M1 is a rotary servo motor. Motor M1 has an output shaft that rotates using electricity supplied from control device 3.

[0056] Load 4, for example, includes a positioning worktable driven by motor M1. Specifically, load 4 includes, for example, a ball screw mechanism connected to the output shaft of a rotary motor M1 to rotate synchronously with the output shaft of motor M1, and a ball screw mechanism that rotates along the X-axis (in...) Figure 4 The movable part 41 (refer to the axis X1 in the left-right direction) moves linearly. Figure 4A single-axis (1-axis) unit of a worktable. That is, a motor M1 is connected to the load 4, and the load 4 is driven by the power of the motor M1.

[0057] The position detector 5 can be an encoder that detects the rotation direction and position (angle) of the motor M1. The position detector 5 outputs a position detection signal, representing the motion amount (detection value) of the motor M1 as a detection result, to the position / speed control unit 30 of the control device 3 (see reference). Figure 2 Additionally, the unit of the position detection signal output from position detector 5, representing the detected value, is, for example, a pulse.

[0058] In addition to the position detector 5, the drive system 2 may also include a speed sensor for detecting speed, an acceleration sensor for detecting acceleration, a force sensor for detecting thrust (or torque), and a vibration sensor for detecting vibration, etc., as external sensors for confirming / measuring the dynamism of the motor M1 or the load 4 (movable part 41). The force sensor includes, for example, piezoelectric, magnetostrictive, or strain gauge type force sensors.

[0059] The control device 3 (servo amplifier A1) includes a computer system with one or more processors and memory. At least a portion of the functions of the control device 3 are implemented by the processor of the computer system executing a program recorded in the computer system's memory. The program can be recorded in memory, provided via electrical communication lines such as the Internet, or provided via a non-transitory recording medium such as a memory card.

[0060] The control device 3 is communicatively connected to the position detector 5 and receives position detection signals from the position detector 5.

[0061] The control device 3 determines the control value of the motor M1 based on the command value and the detection result of the position detector 5, and controls the drive of the motor M1 so that the load 4 performs a test action (or operation action). For example, during operation, the control device 3 controls the drive of the motor M1 to perform the operation action by performing feedback control based on the position detection signal from the position detector 5 and signals including the action command (command value) from the upper controller 6. Specifically, as... Figure 2 As shown, the control device 3 includes a position / speed control unit 30 and a current control unit 31. The position / speed control unit 30 performs feedback control, ensuring that the motion quantity (detected value) related to the position of the motor M1 from the position detector 5 matches the motion command from the upper controller 6, and outputs a torque command signal. The current control unit 31 determines the voltage command value based on the torque command signal received from the position / speed control unit 30, and adjusts the power supplied to the motor M1 (drive current). Thus, the control device 3 drives the movable part 41 of the load 4 to a given position.

[0062] Furthermore, for example, during the test operation, the control device 3 controls the drive of the motor M1 to perform the test operation by performing feedback control based on the position detection signal from the position detector 5 and the action command (command value) from the adjustment auxiliary system 1 (communication terminal 7).

[0063] In summary, the control device 3 performs a first drive control for testing, which controls the drive of motor M1 based on action commands from the adjustment auxiliary system 1, and a second drive control for actual operation, which controls the drive of motor M1 based on action commands from an external device (upper controller 6).

[0064] The "command unit" of the action command, i.e., the "command value (command position)," from the host controller 6 or communication terminal 7 is, for example, a pulse. Generally, to address controller limitations such as the position detector only being able to output at low resolution, an electronic gear can be set in the servo amplifier, allowing for different pulse units for actions from the position detector and the host controller. This electronic gear setting can also be performed in the control device 3 (servo amplifier A1). The user sets the gear ratio of the electronic gear in the servo amplifier A1 via the communication terminal 7, and multiplies the command value (number of pulses) from the host controller 6 or communication terminal 7 by this gear ratio to determine the motor output (angle). In other words, the number of pulses from external action commands can be freely processed through the electronic gear setting, and the motor output is determined by the processed number of pulses. For example, with an action command (command value) of 10,000 pulses from the host controller 6, the motor output can be set to 360 degrees (i.e., one rotation).

[0065] The test action could be, for example, the movement of the movable part 41 of load 4 from its current position (starting position) to the positive side position (maximum position) specified by the command position. Alternatively, the test action could be the movement from the current position (starting position) to the negative side position (minimum position) specified by the command position. Furthermore, the test action could be a reciprocating movement from the current position (starting position) to the positive side position (maximum position) and then back to the current position (ending position). Additionally, the test action could be a reciprocating movement between the positive and negative sides, moving from the current position (starting position) to the positive side position (maximum position), returning to the current position, moving to the negative side position (minimum position), and then returning to the current position (ending position). Moreover, the test action is not limited to the so-called positioning action described above; it could also be an action based on an excitation signal used for frequency characteristic measurement, performed during the adjustment process. Hereinafter, as an example, we envision a reciprocating movement between the positive and negative sides.

[0066] For example, such as Figure 4 As shown, the "current position" mentioned above is the X-axis before the start of the test (in...). Figure 4 The initial position P0 of the movable part 41 on the axis X1 along the left-right direction is shown. Additionally, in... Figure 4 In the diagram, the direction of the arrow on axis X1 is considered the positive side of the X-axis, and its opposite direction is considered the negative side. The aforementioned "maximum position" is... Figure 4 The middle position is equivalent to the first position P1. Furthermore, the aforementioned "minimum position" is... Figure 4 The middle position corresponds to the second position P2. The range of motion R1 of the movable part 41 is from the "maximum position" to the "minimum position", that is, from the first position P1 to the second position P2. As will be described later, the user can set the range of motion R1 in the main setting screen G1 via the communication terminal 7.

[0067] In the test operation, for example, if the initial position P0 is located near either the first position P1 or the second position P2, the movable part 41 is driven to first move towards the position that is closest to it. If the initial position P0 is located in the middle position between the first position P1 and the second position P2, the movable part 41 is driven to first move towards the positive side (the direction of the first position P1).

[0068] Let's briefly explain the movement of the movable part 41 during the test operation using the example of "first moving towards the positive side". For instance, the movable part 41 first accelerates towards position 1 P1, and after moving at a constant speed, it decelerates as it approaches position 1 P1. The movable part 41 stops temporarily at position 1 P1. Then, from there, the movable part 41 accelerates in the opposite direction, that is, towards the negative side (position 2 P2), and after moving at a constant speed, it passes through the initial position P0, and decelerates as it approaches position 2 P2. The movable part 41 stops temporarily at position 2 P2. Then, from there, the movable part 41 accelerates in the opposite direction, that is, towards the positive side (initial position P0), and after moving at a constant speed, it decelerates as it approaches the initial position P0. The movable part 41 stops at the initial position P0, thus ending "one" test operation. Furthermore, as described later, the user can set the number of test operations (number of attempts) via the communication terminal 7 (which can be set via...). Figure 7 The detailed settings are specified in input field D97 of screen G3 shown below.

[0069] The control device 3 sends various information during test or operation actions to the communication terminal 7. For example, during test or operation actions, the control device 3 sends information including the detection results of the position detector 5 and the sensing results of other sensors (external sensors, etc.). The communication terminal 7 can output evaluation information graphs related to the motor M1 and the load 4 based on the information received from the control device 3. The communication between the control device 3 and the communication terminal 7 can be wireless or wired.

[0070] Furthermore, the control device 3 has the function of setting device characteristics such as inertia ratio and parameter values ​​related to friction characteristics via the adjustment auxiliary system 1 (communication terminal 7). The control device 3 has a friction compensation function that performs compensation related to frictional torque that may occur on the motor M1 and load 4 sides based on the inertia ratio and parameter values ​​related to friction characteristics. For example, the friction compensation value obtained by the friction compensation function is added to the torque command output from the position / speed control unit 30, and a signal including this addition result can be input to the current control unit 31. As a result, compensation can be performed for the frictional torque occurring on the motor M1 and load 4.

[0071] Furthermore, the control device 3 has the function of setting the presence or absence of feedback control filters, such as feedback control gain and notch filters, and their parameter values ​​via the adjustment auxiliary system 1 (communication terminal 7). For example, the position / speed control unit 30 can multiply the deviation (position deviation) between the position command and the detection value from the position detector 5 by the set feedback control gain (position loop gain) to determine a speed command that makes the position deviation close to zero. In addition, for example, the torque command signal output from the position / speed control unit 30 can have a set frequency component removed by a notch filter and then be input to the current control unit 31.

[0072] In addition, the control device 3 also has the function of setting parameters related to feedforward control of the speed of motor M1's movement via the adjustment auxiliary system 1 (communication terminal 7). That is, if the control device 3 receives an action command (position command) from the upper controller 6 or the communication terminal 7, it determines a feedforward command related to the torque and speed (angular velocity) of motor M1 based on the action command, and adds it to the torque command and speed command, thereby improving the responsiveness of motor M1. In the above process, settings related to the set feedforward control (parameter values ​​of the second-order hysteresis filter for the command, whether or not a vibration damping filter is used, and its parameter values) can be applied.

[0073] Thus, during operation or test, the control device 3 adjusts the drive current and controls the motor M1 based on the action commands from the upper controller 6 or communication terminal 7, the action amount from the position detector 5, and various set parameters.

[0074] (3) Upper controller

[0075] The host controller 6 includes a computer system with one or more processors and memory. The processor of the computer system executes programs recorded in the computer system's memory to implement at least a portion of the functions of the host controller 6. The programs can be recorded in memory, provided via electrical communication lines such as the Internet, or provided via non-transitory recording media such as memory cards.

[0076] The host controller 6, for example, is constructed using a programmable logic controller (PLC), and controls the operation of the equipment by sending action commands to the control device 3 (servo amplifier A1). When the host controller 6 is communicatively connected to the control device 3, it outputs control signals to the control device 3. Thus, the host controller 6 controls the operation of the control device 3. The communication method can be wireless or wired. The control signals include data specifying the action command, i.e., the command value (command position).

[0077] (4) Communication terminal

[0078] like Figure 1 As shown, for example, we assume that communication terminal 7 is a laptop computer.

[0079] The communication terminal 7 and the control device 3 (servo amplifier A1) can be communicatively connected. The communication method between the communication terminal 7 and the control device 3 is not particularly limited; it can be wireless or wired. The communication terminal 7 can be connected to the control device 3 during both test and operation phases, or it can be connected during test phases but not during operation.

[0080] like Figure 3A As shown, the communication terminal 7 includes a display unit 70, a processing unit 71, an operation unit 72, and a storage unit 73. If the communication terminal 7 does not include a display unit 70, a display device may be additionally attached to the communication terminal 7.

[0081] The processing unit 71 includes a computer system having one or more processors and memory. At least a portion of the functions of the processing unit 71 are implemented by the processor of the computer system executing a program recorded in the computer system's memory. The program can be recorded in memory, provided via electrical communication lines such as the Internet, or provided via a non-transitory recording medium such as a memory card.

[0082] The processing unit 71 has the functions of the adjustment assistance system 1 according to this embodiment. Dedicated application software for communicating with the control device 3 to enable it to have the functions of the adjustment assistance system 1 is pre-installed on the communication terminal 7. Further details regarding the adjustment assistance system 1 will be described later.

[0083] The display unit 70 may be composed of, for example, a liquid crystal display or an organic EL (Electro-Luminescence) display. The display unit 70 may be composed of a touch panel type display.

[0084] The operation unit 72 includes, for example, one or more of a mouse, keyboard, and pointing devices. The user operates the operation unit 72 while referring to information displayed on the display unit 70 to input information. For example, the user connects the communication terminal 7 to the control device 3 to confirm actions (including parameter adjustments) for the drive system 2. Furthermore, the user uses the operation unit 72 to launch dedicated application software on the communication terminal 7, inputs information including initial settings for the control device 3, and performs input to begin adjustment, thereby executing the various steps described later. When the display unit 70 is configured as a touch panel type display, it also functions as the operation unit 72.

[0085] The storage unit 73 includes electrically rewritable non-volatile semiconductor memory such as flash memory. For example, the storage unit 73 can store (store) the main setting screen G1 described later, the detailed setting screen G2 related to protection functions, and the detailed setting screen G3 related to operation commands (see reference). Figures 5-7 The information is input through screens such as the specification setting screen (not shown). The storage unit 73 may also be the memory of the processing unit 71.

[0086] (5) Adjust the auxiliary system

[0087] The structure of the adjustment auxiliary system 1 will be described in detail below.

[0088] The adjustment assistance system 1 includes a computer system with one or more processors and memory. The processor of the computer system executes a program recorded in the computer system's memory to implement at least a portion of the functions of the adjustment assistance system 1. The program can be recorded in memory, provided via electrical communication lines such as the Internet, or provided via a non-transitory recording medium such as a memory card.

[0089] The adjustment auxiliary system 1 assists in adjustments related to the drive system 2. Specifically, the adjustment auxiliary system 1 assists in adjustments related to the control device 3, which controls the drive of the motor M1 connected to the load 4. In particular, the adjustment auxiliary system 1 has the function of automatically adjusting parameters related to device characteristics, feedback control, and feedforward control (command response) through test actions. Furthermore, some parameters can be adjusted based on user input.

[0090] like Figure 3BAs shown, the adjustment assistance system 1 includes an adjustment unit 11 and a control receiving unit 12. The functions of these units are installed in the processing unit 71 of the communication terminal 7.

[0091] The constraint receiving unit 12 accepts inputs of motor constraint conditions related to at least one of the torque or thrust (here, torque) of the motor M1 and the speed of the motor M1. In other words, the adjustment assistance method includes a constraint receiving step (constraint receiving processing), in which the aforementioned motor constraint condition inputs are accepted. In this embodiment, the constraint receiving unit 12 accepts inputs of motor constraint conditions related to both the torque and speed of the motor M1. The constraint receiving unit 12 receives inputs of motor constraint conditions via a detailed setting screen G2 related to protection functions displayed on the display unit 70 (see...). Figure 6 The input of motor constraint conditions is accepted. In this embodiment, the constraint acceptance step can be performed at [location]. Figure 8 The initial setup is performed in step S1 as shown.

[0092] Additionally, the control and acceptance unit 12, via the detailed settings screen G2 (see...) Figure 6 After receiving the input of motor constraint conditions, it compares them with the actual limit values ​​(specification values) of the complete set of equipment input through the specification value setting screen (not shown: a screen different from the detailed setting screen G2) displayed on the display unit 70, and can accept the condition of the more restrictive party as the new constraint condition.

[0093] The adjustment unit 11 causes the control device 3 to perform first drive control in order to adjust one or more parameters (here, the various parameters described above) set on the control device 3. In other words, the adjustment assistance method includes a first adjustment step (first adjustment process), in which the control device 3 is caused to perform first drive control in order to adjust one or more parameters set on the control device 3. The first drive control is a test drive control for controlling the drive of the motor M1 based on the action command from the adjustment assistance system 1. In this embodiment, the first adjustment step is equivalent to Figure 8 The steps for load characteristic measurement shown are S2 to rigidity measurement step 3.

[0094] As motor constraint conditions, the constraint receiving unit 12 separately receives inputs for the first motor constraint conditions applied to the first drive control and the second motor constraint conditions applied to the second drive control. The second drive control is a drive control used to control the actual operation of the motor M1 based on the action instructions from the upper controller 6.

[0095] In this embodiment, as an example, the first motor constraint condition is described as a more restrictive condition than the second motor constraint condition.

[0096] Furthermore, the first motor constraint condition includes at least the condition that the torque or thrust (here, torque) of motor M1 is at a limit value (hereinafter also referred to as the "adjustment torque limit value"). In the first adjustment step, the control device 3 performs a first drive control such that the torque or thrust (here, torque) of motor M1 does not exceed the limit value (adjustment torque limit value). The value related to this adjustment torque limit value can be obtained via... Figure 6 Use G2 to input the detailed settings shown in the image.

[0097] Furthermore, the first motor constraint condition includes at least the condition that the speed of motor M1 is at a limit value (hereinafter also referred to as the "adjustment speed limit value"). In the first adjustment step, if the speed of motor M1 exceeds the limit value (adjustment speed limit value), the control device 3 stops the drive of motor M1. The value related to this adjustment speed limit value can be obtained via... Figure 6 The detailed settings are entered on the G2 screen shown. Furthermore, preferably, if the speed of motor M1 actually exceeds the limit value (adjustment speed limit value) and the control device 3 stops the drive of motor M1, the adjustment assistance system 1 will display a warning message via the display unit 70 indicating an emergency stop due to excessive speed of motor M1, thus notifying the user.

[0098] The second motor constraint condition includes at least the condition that the torque or thrust (here, torque) of motor M1 is at a limit value (hereinafter also referred to as the "actual operating torque limit value"). The actual operating torque limit value is, for example, a specification value (limit value) related to the complete equipment B1 as recorded in the specifications or other documents of the complete equipment B1. The value related to this actual operating torque limit value can be input via the specification value setting screen (not shown: a screen different from the detailed setting screen G2) displayed on the display unit 70.

[0099] Furthermore, the second motor constraint condition includes at least the condition that the speed of motor M1 is a limited value (hereinafter also referred to as the "actual operating speed limit value"). The actual operating speed limit value is, for example, a specification value (limit value) related to the complete equipment B1 as recorded in the specifications of the complete equipment B1. The value related to the actual operating speed limit value can be input via the specification value setting screen (not shown: a screen different from the detailed setting screen G2) displayed on the display unit 70. The adjustment unit 11 causes the control device 3 to perform the first drive control so that the first motor constraint condition received by the constraint receiving unit 12 is satisfied.

[0100] Furthermore, the adjustment unit 11 causes the control device 3 to perform a second drive control, thereby satisfying the second motor constraint condition received by the constraint acceptance unit 12. In other words, the adjustment assistance method also includes a second adjustment step (second adjustment processing), which causes the control device 3 to perform a second drive control, thereby satisfying the second motor constraint condition received in the constraint acceptance step.

[0101] Furthermore, the adjustment auxiliary system 1 has the function of automatically switching between the first motor constraint condition and the second motor constraint condition depending on whether it is the first adjustment step (first adjustment process) or the second adjustment step (second adjustment process).

[0102] In this embodiment, the second adjustment step is equivalent to Figure 8 The steps S4 to S5 are shown for command response measurement and final setting. That is, for example, a first adjustment step (first adjustment process) based on the first drive control is first performed in steps S2 to S3, and a second adjustment step (second adjustment process) based on the second drive control is performed in steps S4 to S5.

[0103] Thus, in this embodiment, the second adjustment step is performed after the first adjustment step. Figure 8 In the flowchart shown, when transitioning from the first adjustment step to the second adjustment step, the adjustment auxiliary system 1 automatically switches the first motor constraint condition to the second motor constraint condition.

[0104] The adjustment auxiliary system 1 has the function of displaying the main setting screen G1, the detailed setting screen G2 related to protection functions, and the detailed setting screen G3 related to action commands on the display unit 70 (see reference). Figures 5-7 In addition, the adjustment assistance system 1 also has the function of displaying the aforementioned specification value setting screen (not shown) and the evaluation screen (not shown) on the display unit 70, which displays graphs for confirming the aforementioned evaluation indicators such as stabilization time. These screens can be displayed by the display unit 70 as window screens, for example.

[0105] The following section explains how to adjust various screens in Assist System 1. Figures 5-7 Let me explain. Figures 5-7 These are concept diagrams of the main setting screen G1 in the auxiliary system 1, the detailed setting screen G2 related to the protection function, and the detailed setting screen G3 related to the action commands.

[0106] [Main Settings Screen]

[0107] Main settings screen G1 (see reference) Figure 5 The user can launch a dedicated application software on the communication terminal 7 using the operation unit 72, and input the "automatic adjustment" operation for the start parameters in the menu screen, which will then be displayed on the display unit 70.

[0108] The main settings screen G1 includes a display area D1 related to action commands, a display area D2 related to the action range, an input area D3 for the maximum / minimum position based on the JOG action, and an input area D4 for the maximum / minimum position based on numerical values. Furthermore, the main settings screen G1 includes an input area D5 related to report output settings and an input area D6 related to detailed settings. Additionally, the main settings screen G1 includes an operation area displaying the read button E1, the save button E2, and the adjustment start button E3. The user uses a mouse or other operating unit 72 to select input areas D3 to D6 via a pointer, or presses the read button E1, the save button E2, or the adjustment start button E3.

[0109] Display area D1 shows a message such as "Using the trial run function, the action commands are automatically set." Furthermore, detailed settings for the action commands can be obtained through... Figure 7 Use the detailed settings screen G3 shown to configure the settings in detail.

[0110] Display area D2 shows a message such as "Whether to move the motion range to the maximum / minimum position via JOG motion during setting adjustment, please enter a value".

[0111] Input area D3 includes operation area D31 for switching motor M1 to on / off state (in Figure 5 (The ON state is illustrated illustratively). Furthermore, input area D3 includes input areas related to JOG movements. Input area D3 includes an operation area D32 ("-") that, when pressed, causes the motor M1 to perform a JOG movement in the negative direction at a preset speed; an operation area D33 that, when pressed, moves to the current position "0"; and an operation area D34 ("+") that, when pressed, causes the motor M1 to perform a JOG movement in the positive direction at a preset speed. A JOG movement is a movement that does not specify the range of motion of the movable part 41. If operation area D31 is set to "ON," the motor M1 is ON, performing a JOG movement in the positive direction while the "+" operation area D34 is pressed, and performing a JOG movement in the negative direction while the "-" operation area D32 is pressed. If operation area D31 is set to "OFF," the motor M1 is OFF. The user sets the range of motion (i.e., the range of motion R1) of the movable part 41 by performing these operations.

[0112] Input area D4 is used to directly input and set the values ​​of the maximum / minimum position, including input field D41 for inputting the value of the minimum position [command unit (pulse)] and input field D42 for inputting the value of the maximum position [command unit (pulse)]. The range of motion (i.e., range of motion R1) of the movable part 41 is set by the user inputting values ​​into input fields D41 and D42.

[0113] Input area D5 is used to specify whether there is a report output, including operation area D51 for specifying "yes" and operation area D52 for specifying "no". If "yes" is specified in operation area D51, a report including the adjustment result will be generated after "automatic adjustment" ends and output (displayed) from display unit 70.

[0114] Input area D6 includes a quadrilateral operation area for displaying the detailed instruction setting screens G2 and G3. Pressing this operation area will display... Figure 6 , Figure 7 The detailed settings screens G2 and G3 are shown.

[0115] The save button E2 is used to save the setting information set in the main setting screen G1, detailed setting screens G2 and G3. The user can save the setting information to the storage unit 73 by pressing the save button E2. Additionally, the user can press the read button E1 to read previously saved setting information and reuse that setting information for "automatic adjustment." In other words, during the constraint acceptance step, the previously saved first motor constraint condition is read, and a new first motor constraint condition is accepted.

[0116] The Adjust Start button E3 is used to initiate the "Auto Adjust" command. After completing the settings in the main settings screen G1, detailed settings screen G2, or G3, or after reading the settings information by pressing the readout button E1, the user can start "Auto Adjust" by pressing the Adjust Start button E3. For more details on "Auto Adjust," please use... Figure 8 The flowchart will be described later.

[0117] [Detailed settings screen]

[0118] Detailed settings screen G2 (see) Figure 6 The operation area can be accessed by the user by pressing the input area D6 in the main settings screen G1, and thus displayed on the display unit 70 together with the detailed settings screen G3, for example.

[0119] The detailed settings screen G2 is used for making detailed settings related to the protection function. That is, the detailed settings screen G2 is used to input values ​​related to the adjustment torque limit value and adjustment speed limit value in the first motor constraint conditions mentioned above.

[0120] The detailed settings screen G2 includes an input field D7 for inputting and adjusting the speed limit value for "Adjusted speed level setting [r / min]" and an input field D8 for inputting and adjusting the torque limit value for "Adjusted torque limit [%]".

[0121] In other words, the value entered into input field D7 by the control acceptance department 12 is used as the speed limit value for adjustment, and the value entered into input field D8 is used as the torque limit value for adjustment.

[0122] Detailed settings screen G3 (see reference) Figure 7 The operation area can be accessed by the user by pressing the input area D6 in the main settings screen G1, and can be displayed on the display unit 70 together with the detailed settings screen G2, for example.

[0123] The detailed settings screen G3 is used for detailed settings related to action commands. In the detailed settings screen G3, the user can set information related to action commands sent from the adjustment assistance system 1 (communication terminal 7) to the control device 3 and applied during the test action.

[0124] The detailed settings screen G3 includes a selection area D911 for selecting "None" for actions from the host controller 6 (action commands from the host controller 6) and a selection area D912 for selecting "Yes" for actions from the host controller 6. The user selects "Yes" in selection area D912 when using action commands from the host controller 6. The user selects "None" in selection area D911 when not using action commands from the host controller 6.

[0125] In addition, the input fields D92 to D95 below are used to input numerical values ​​and other information about the action instructions used in the test.

[0126] Specifically, the detailed settings screen G3 also includes: input field D92 for inputting the movement amount [command unit (pulse)] as the action command for the test action; input field D93 for inputting the maximum speed [r / min] as the action command for the test action; input field D94 for inputting the acceleration / deceleration time [ms] as the action command for the test action; and input field D95 ​​for inputting the waiting time [ms] as the action command for the test action. In addition, preset default values ​​are displayed in input fields D92 to D95, and users can appropriately change these default values.

[0127] In addition, the detailed settings screen G3 includes three selection areas for selecting the motion direction as the motion command for the test motion. Specifically, the detailed settings screen G3 includes selection area D961 for selecting "reciprocating motion", selection area D962 for selecting "positive direction only motion", and selection area D963 for selecting "negative direction only motion". Furthermore, "reciprocating motion" is preset as the default motion direction, and the user can change the motion direction as appropriate.

[0128] In addition, the detailed settings screen G3 includes an input field D97 for inputting the number of attempts [times] as the action command for the test action. Furthermore, "1 attempt" is preset as the default number of attempts, and users can change the number of attempts as appropriate.

[0129] The settings for the main settings screen G1, detailed settings screens G2, and G3 mentioned above can be described later. Figure 8 The initial setup step S1 in the flowchart is performed.

[0130] In addition, the adjustment auxiliary system 1 can also display on the display unit 70 the following adjustment conditions: the initial command response of the setting function (command response setting function) related to the feedforward control (command response) for the speed of the action; the initial rigidity of the setting function (rigidity setting function) related to feedback control; the validity / invalidity of the function (least square estimation function) that automatically estimates the load characteristics using the least square estimation in the load characteristic measurement function (load characteristic measurement function); the validity / invalidity of the load characteristic compensation of the load characteristic measurement results; the validity / invalidity of the adaptive filter function; and the validity / invalidity of the oscillation detection function. Furthermore, "load characteristics" refers to the characteristics related to the load 4 in the device characteristics (characteristics of the complete equipment B1), such as the inertia ratio, eccentric load, dynamic friction, and viscous friction coefficient of the load 4. The "oscillation detection function" is, for example, a function that extracts the change in position information from the motor M1 from the position detector 5 to detect the oscillation state of the complete equipment B1. When oscillation is detected, the control device 3 automatically suppresses the oscillation by selecting a rigidity value that narrows the bandwidth of the feedback loop.

[0131] (6) Description of the actions

[0132] The following is a procedure for adjusting the actions in Assist System 1, please refer to... Figure 8 Let me explain. Figure 8 It is a flowchart related to adjusting the actions in auxiliary system 1. Figure 8 The flowchart shown is just one example of the action flow related to adjusting the auxiliary system 1. The order of processing can be changed appropriately, and processing can be added or omitted as appropriate.

[0133] like Figure 8 As shown, firstly, the auxiliary system 1 is adjusted for initial settings (step S1). In the initial settings, the auxiliary system 1 is adjusted to accept user operations on the communication terminal 7, which serves as the user interface, and adjustment conditions related to the drive system 2 are set.

[0134] Here, the adjustment conditions include those set in the main setting screen G1, detailed setting screens G2 and G3 (such as the range of motion of the movable part 41, the number of attempts for the test action, the speed limit value for adjustment, and the torque limit value for adjustment). Furthermore, the adjustment conditions include adjustment values ​​for various parameters related to the test action (as described above). Additionally, the adjustment conditions include: the initial command response of the command response setting function, the initial rigidity of the rigidity setting function, the validity / invalidity of the least squares estimation function of the load characteristic measurement function, the validity / invalidity of the load characteristic compensation of the load characteristic measurement result, the validity / invalidity of the adaptive filter function, and the validity / invalidity of the oscillation detection function. In this embodiment, an example is given where the least squares estimation function of the load characteristic measurement function, the load characteristic compensation of the load characteristic measurement result, the adaptive filter function, and the oscillation detection function are all "valid".

[0135] Next, the auxiliary system 1 is adjusted to measure the load characteristics (step S2). More specifically, the auxiliary system 1 is adjusted to perform test actions, and load characteristics such as the inertia ratio, eccentric load, dynamic friction, and viscous friction coefficient are measured (or estimated). Furthermore, in the processing of step S2, the auxiliary system 1 determines the command mode. Here, "command mode" refers to the action mode (movement amount, acceleration / deceleration time, maximum speed, etc.) that the auxiliary system 1 commands to the control device 3. The determined command mode is applied in subsequent steps such as stiffness measurement.

[0136] Next, the auxiliary system 1 is adjusted to perform a stiffness measurement (step S3). More specifically, the auxiliary system 1 utilizes the adaptive filter function to perform a test operation using the command mode determined in step S2, and measures (or estimates) the maximum stiffness, which is the upper limit of the stiffness index, by increasing the stiffness index. Furthermore, in the processing of step S3, the auxiliary system 1 selects a notch filter corresponding to the current stiffness index.

[0137] Next, the auxiliary system 1 is adjusted to measure the command response (step S4). More specifically, the auxiliary system 1 is adjusted to measure evaluation indicators such as settling time, overshoot, and vibration level. Furthermore, the command mode in step S4 can be measured using the command mode determined in step 2, or using the command mode set by the user in the input fields D92-D95 of the detailed setting screen G3. Alternatively, the command mode in step S4 can also be measured by selecting the upper-level command "Yes" in the selection area D912 of the detailed setting screen G3, using the command mode from the upper-level controller 6.

[0138] Next, the auxiliary system 1 is adjusted for final settings (step S5). More specifically, the auxiliary system 1 determines and saves the final parameters based on the evaluation indicators in step S4 and the conditions required by the user (setting). That is, the final parameters are set in the control device 3.

[0139] Furthermore, in the first adjustment step of each of steps S2 to S4, the adjustment unit 11 causes the control device 3 to perform the first drive control so that the torque of the motor M1 does not exceed the limit value. In addition, in the first adjustment step of each of steps S2 to S4, if the speed of the motor M1 exceeds the limit value, the adjustment unit 11 causes the control device 3 to stop driving the motor M1.

[0140] For example, if the "Yes" command is selected in the selection area D912 of the detailed setting screen G3 for adjustment, step S4 is implemented through the command mode from the upper controller 6. Then, the adjustment auxiliary system 1 automatically switches to the second motor constraint condition, causing the control device 3 to perform the second drive control.

[0141] Furthermore, in the final setting step S5, the constraint condition for the second motor is finally set only for the control device 3, completing the adjustment assistance based on the adjustment assistance system 1. As a result, in the subsequent actual operation based on the action command from the upper controller 6, the control device 3 controls the drive of the motor M1 to satisfy the constraint condition for the second motor.

[0142] (7) Advantages

[0143] According to the adjustment assistance method described in the above embodiment, in the constraint acceptance step, the inputs of the first motor constraint condition and the second motor constraint condition are accepted separately. Furthermore, in the first adjustment step, the control device 3 performs first drive control to satisfy the first motor constraint condition. Therefore, the first motor constraint condition and the second motor constraint condition can be easily set and managed separately, reducing the possibility of user errors. As a result, the adjustment assistance method has the advantage of reducing the possibility of user errors during parameter adjustment.

[0144] Furthermore, in the adjustment assistance method, the constraint condition of the first motor is more restrictive than that of the constraint condition of the second motor, thus allowing the parameters to be adjusted below the actual limit value (specification value) of the complete equipment B1. Therefore, the risk of malfunctions such as damage to the movable part 41 of the load 4 due to the torque or speed of the motor M1 exceeding the actual limit value (specification value) of the complete equipment B1 can be suppressed.

[0145] Furthermore, in the adjustment assistance method, the first motor constraint condition and the second motor constraint condition are automatically switched depending on whether it is the first adjustment step or the second adjustment step, thereby further reducing the possibility of user operation errors.

[0146] Furthermore, in the first adjustment step, the control device 3 performs the first drive control so that the torque of the motor M1 does not exceed the limit value. Therefore, in cases where the torque or thrust of the motor M1 exceeds the limit value and becomes excessive, a more appropriate protection function can be achieved, and the risk of failure of the motor M1 and the load 4 can be further suppressed.

[0147] Furthermore, in the first adjustment step, if the speed of motor M1 exceeds the limit, the control device 3 stops driving motor M1. Therefore, in cases where the speed of motor M1 exceeds the limit and becomes excessive, a more appropriate protection function can be achieved, further suppressing the risk of failure of motor M1 and load 4.

[0148] (8) Variations

[0149] Hereinafter, variations of the above embodiments are listed. The variations described below can be appropriately combined and applied.

[0150] The same function as the adjustment assistance system 1 described in the above embodiments can also be embodied by adjustment assistance methods, computer programs, or non-transient recording media containing computer programs.

[0151] The adjustment assistance system 1 of this disclosure includes a computer system. The computer system has a processor and memory as its main hardware components. The processor executes a program recorded in the computer system's memory to perform the functions of the adjustment assistance system 1. The program can be pre-recorded in the computer system's memory, provided via electrical communication lines, or recorded on a non-transitory recording medium such as a memory card, optical disc, or hard disk drive that can be read by the computer system. The processor of the computer system is constructed using one or more electronic circuits including semiconductor integrated circuits (ICs) or large-scale integrated circuits (LSIs). The ICs or LSIs referred to herein are named differently depending on the degree of integration, including integrated circuits called system LSIs, VLSIs (Very Large Scale Integration), or ULSIs (Ultra Large Scale Integration). Furthermore, FPGAs (Field-Programmable Gate Arrays) that are programmable after LSI manufacturing, or logic devices capable of reconfiguring the internal bonding relationships or circuit partitioning within an LSI, can also be used as processors. Multiple electronic circuits can be integrated onto a single chip or distributed across multiple chips. Multiple chips can also be integrated into a single device or distributed across multiple devices. The computer system described herein includes a microcontroller having one or more processors and one or more memories. Therefore, a microcontroller is also constructed using one or more electronic circuits, including semiconductor integrated circuits or large-scale integrated circuits.

[0152] Furthermore, it is not necessary for the multiple functions of the adjustment assistance system 1 to be concentrated in a single housing. For example, the components of the adjustment assistance system 1 can also be distributed across multiple housings.

[0153] Conversely, multiple functions in the adjustment assistance system 1 can also be integrated into a single housing. Furthermore, at least a portion of the functions of the adjustment assistance system 1, for example, a portion of the functions of the adjustment assistance system 1 can also be implemented via the cloud (cloud computing), etc.

[0154] Furthermore, in the above embodiment, it is envisioned that the first motor constraint condition received by the constraint receiving unit 12 is a more restrictive condition than the second motor constraint condition. However, the constraint receiving unit 12 may also be configured to re-receive the more restrictive of the first and second motor constraint conditions as the first motor constraint condition. For example, if the second motor constraint condition is more restrictive than the first motor constraint condition, the constraint receiving unit 12 may also re-receive the more restrictive second motor constraint condition as the first constraint condition. In other words, in the constraint receiving step of the adjustment assistance method in the above embodiment, the more restrictive of the first and second motor constraint conditions may also be re-received as the first motor constraint condition. As a result, adjustments can be made below the two limiting values ​​of the first and second motor constraint conditions, reducing the risk of malfunction.

[0155] In the above embodiment, the constraint acceptance unit 12 can also read the information that the user has saved in the main setting screen G1 and the evaluation screen (not shown) in the past through the main setting screen G1, and accept it as the first motor constraint condition.

[0156] In this way, even if the device has actual limit values ​​that are different from those of the past, it can be adjusted in the same way as the past by reading the conditions of the adjustment, without the risk of failure of motor M1 and load 4.

[0157] In the above embodiment, the constraint receiving unit 12 may be further configured to receive inputs of load constraint conditions related to the state quantity of the load 4, which can change due to the driving of the motor M1. In other words, in the constraint receiving step of the adjustment assistance method in the above embodiment, inputs of load constraint conditions related to the state quantity of the load 4, which can change due to the driving of the motor M1, may be further received. In the constraint receiving step, as load constraint conditions, inputs of a first load constraint condition applied to the first drive control and a second load constraint condition applied to the second drive control may be received separately.

[0158] For example, the state quantity of load 4 may be the thrust, speed, amount of movement of movable part 41, or the torsional amount of motor and load (the difference between the position of motor and the position of load).

[0159] In the first adjustment step, the control device 3 may be further driven to perform the first drive control to satisfy the first load constraint condition accepted in the constraint acceptance step.

[0160] The first load constraint condition may include, for example, a condition where the speed of the movable part 41 is below the adjustment speed limit value of the movable part 41. The adjustment speed limit value of the movable part 41 can be input via the detailed setting screen G2. The second load constraint condition may include, for example, a condition where the speed of the movable part 41 is below the operating speed limit value (specification value) of the movable part 41. The operating speed limit value of the movable part 41 can be input via the specification value setting screen.

[0161] In this way, not only motor constraints, but also load constraints, accept the input of the first and second load constraints separately. Therefore, the possibility of user operational errors can be further reduced.

[0162] (Summarize)

[0163] Based on the implementation methods described above, the following methods are disclosed.

[0164] The adjustment assistance method involved in the first method is an adjustment assistance system (1) that assists in adjusting the control device (3) that controls the drive of the motor (M1) connected to the load (4). In the control device (3), a first drive control for testing is performed to control the drive of the motor (M1) based on action commands from the adjustment assistance system (1), and a second drive control for actual operation of the drive of the motor (M1) is performed based on action commands from an external device (upper controller 6) different from the adjustment assistance system (1). The adjustment assistance method includes a constraint acceptance step and a first adjustment step. In the constraint acceptance step, inputs of motor constraint conditions related to at least one of the torque or thrust of the motor (M1) and the speed of the motor (M1) are accepted. In the first adjustment step, the control device (3) performs first drive control in order to adjust one or more parameters set for the control device (3). In the constraint acceptance step, as motor constraint conditions, inputs of a first motor constraint condition applied to the first drive control and a second motor constraint condition applied to the second drive control are accepted separately. In the first adjustment step, the control device (3) performs the first drive control so that the first motor constraint condition accepted in the constraint acceptance step is met.

[0165] The above method has the advantage of reducing the possibility of user errors during parameter adjustment.

[0166] In the adjustment assistance method involved in the second method, in the first method, the constraint condition of the first motor is a more restrictive condition than the constraint condition of the second motor.

[0167] According to the above method, the risk of failure of motor (M1) and load (4) can be reduced during the parameter adjustment process.

[0168] In the adjustment auxiliary method involved in the third method, in the first method, in the constraint acceptance step, the more restrictive one of the accepted first motor constraint condition and the second motor constraint condition is newly accepted as the first motor constraint condition.

[0169] According to the above method, the risk of failure of motor (M1) and load (4) can be reduced during the parameter adjustment process.

[0170] In the adjustment assistance method involved in the fourth method, in the second or third method, the previously saved first motor constraint condition is read out and newly accepted as the first motor constraint condition.

[0171] According to the above method, when adjusting other devices to actual limit values ​​that are different from those of the previous adjustment, the risk of failure of the motor (M1) and load (4) can also be further reduced.

[0172] In the adjustment assistance method involved in the fifth method, the first method further includes: a second adjustment step, in which the control device (3) performs a second drive control to satisfy the second motor constraint condition accepted in the constraint acceptance step. In the adjustment assistance method, the first motor constraint condition and the second motor constraint condition are automatically switched depending on whether it is the first adjustment step or the second adjustment step.

[0173] By automatically switching the constraints of the first motor and the second motor as described above, the possibility of user errors can be further reduced.

[0174] Regarding the adjustment assistance method involved in Method 6, in Method 2, the second adjustment step is performed after the first adjustment step.

[0175] According to the above method, for example, if the second adjustment step is performed after confirming that the operation is safe through the first adjustment step, the control condition is automatically switched from the first motor control condition to the second motor control condition, thereby further reducing the possibility of user operation errors.

[0176] Regarding the adjustment assistance method involved in the seventh method, in any one of the first to third methods, the constraint condition of the first motor includes at least the condition that the torque or thrust of the motor (M1) is below a limit value. In the first adjustment step, the control device (3) performs the first drive control so that the torque or thrust of the motor (M1) does not exceed the limit value.

[0177] According to the above method, in the case where the torque or thrust of the motor (M1) exceeds the limit and becomes too large, a more appropriate protection function can be achieved, and the risk of failure of the motor (M1) and the load (4) can be further suppressed.

[0178] Regarding the adjustment assistance method involved in the eighth method, in any one of the methods 1 to 4, the first motor constraint condition includes at least the condition that the speed of the motor (M1) is below a limit value. In the first adjustment step, if the speed of the motor (M1) exceeds the limit value, the control device (3) stops the drive of the motor (M1).

[0179] According to the above method, in the case where the speed of the motor (M1) exceeds the limit and becomes too large, a more appropriate protection function can be achieved, and the risk of failure of the motor (M1) and the load (4) can be further suppressed.

[0180] Regarding the adjustment assistance method involved in the ninth method, in any one of the methods 1 to 5, in the constraint acceptance step, an input of a load constraint condition related to the state quantity of the load (4) that can change due to the drive of the motor (M1) is further accepted. In the constraint acceptance step, as load constraints, the inputs of a first load constraint condition applied to the first drive control and a second load constraint condition applied to the second drive control are accepted separately. In the first adjustment step, the control device (3) is further made to perform the first drive control so that the first load constraint condition accepted in the constraint acceptance step is satisfied. The first load constraint condition is a more restrictive condition than the second load constraint condition.

[0181] According to the above method, not only motor constraints, but also load constraints, accept the input of the first load constraint and the second load constraint separately. Therefore, the possibility of user operational errors can be further reduced.

[0182] Method 10 involves a program that enables one or more processors to execute any one of the adjustment assistance methods in methods 1 through 6.

[0183] Based on the above method, it is possible to achieve a function that reduces the possibility of user errors during parameter adjustment.

[0184] The adjustment assistance system (1) involved in the 11th method assists in adjusting the control device (3) related to the drive of the motor (M1) connected to the load (4). In the control device (3), a first drive control is performed for testing the drive of the motor (M1) based on the action command from the adjustment assistance system (1), and a second drive control is performed for actual operation of the drive of the motor (M1) based on the action command from an external device (upper controller 6) different from the adjustment assistance system (1). The adjustment assistance system (1) includes a constraint receiving unit (12) and an adjustment unit (11). The constraint receiving unit (12) receives inputs of motor constraint conditions related to at least one of the torque or thrust of the motor (M1) and the speed of the motor (M1). The adjustment unit (11) causes the control device (3) to perform the first drive control in order to adjust one or more parameters set on the control device (3). As a motor constraint condition, the constraint receiving unit (12) separately receives inputs for the first motor constraint condition applied to the first drive control and the second motor constraint condition applied to the second drive control. The adjustment unit (11) causes the control device (3) to perform the first drive control so that the first motor constraint condition received by the constraint receiving unit (12) is satisfied.

[0185] Based on the above method, an adjustment assistance system (1) can be provided that can reduce the possibility of user operation errors during parameter adjustment.

[0186] For the structures involved in methods 2 to 9, which are not necessary for the adjustment auxiliary method involved in method 1, they can be appropriately omitted.

[0187] Explanation of reference numerals in the attached figures

[0188] 1. Adjust the auxiliary system

[0189] 11 Adjustment Department

[0190] 12. Restriction and Acceptance Department

[0191] 3. Control device

[0192] 4. Load

[0193] 6. Host controller (external device)

[0194] M1 motor.

Claims

1. An adjustment assistance method, which is an adjustment assistance system for assisting in adjustments related to a control device controlling the drive of a motor connected to a load. The control device includes a first drive control for testing, which controls the motor drive based on action commands from the adjustment assistance system, and a second drive control for actual operation, which controls the motor drive based on action commands from an external device different from the adjustment assistance system. The adjustment assistance method includes: The constraint acceptance step accepts inputs of motor constraint conditions relating to at least one of the torque or thrust of the motor and the speed of the motor. and The first adjustment step involves adjusting one or more parameters set for the control device to enable the control device to perform the first drive control. In the constraint acceptance step, as the motor constraint condition, the inputs of the first motor constraint condition applied to the first drive control and the second motor constraint condition applied to the second drive control are accepted separately. In the first adjustment step, the control device performs the first drive control to satisfy the first motor constraint condition accepted in the constraint acceptance step.

2. The adjustment assistance method according to claim 1, wherein, The constraint condition for the first motor is a more restrictive condition than the constraint condition for the second motor.

3. The adjustment assistance method according to claim 1, wherein, In the constraint acceptance step, the more restrictive one of the accepted first motor constraint and the second motor constraint is newly accepted as the first motor constraint.

4. The adjustment assistance method according to claim 2 or 3, wherein, In the constraint acceptance step, the previously saved constraint condition for the first motor is read out and newly accepted as the constraint condition for the first motor.

5. The adjustment assistance method according to claim 1, wherein, The adjustment assistance method further includes: The second adjustment step involves causing the control device to perform the second drive control, thereby satisfying the second motor constraint condition received in the constraint acceptance step. Depending on whether it is the first adjustment step or the second adjustment step, the first motor constraint condition and the second motor constraint condition are automatically switched.

6. The adjustment assistance method according to claim 5, wherein, The second adjustment step is performed after the first adjustment step.

7. The adjustment assistance method according to claim 1, wherein, The constraint condition for the first motor includes at least the condition that the torque or thrust of the motor is below a limit value. In the first adjustment step, the control device performs the first drive control so that the torque or thrust of the motor does not exceed the limit value.

8. The adjustment assistance method according to claim 1, wherein, The constraint condition for the first motor includes at least the condition that the speed of the motor is below a certain limit value. In the first adjustment step, if the speed of the motor exceeds the limit value, the control device stops driving the motor.

9. The adjustment assistance method according to claim 1, wherein, In the constraint acceptance step, inputs related to load constraint conditions that are possible to change due to the driving of the motor are further accepted. In the constraint acceptance step, as the load constraint condition, the inputs of the first load constraint condition applied to the first drive control and the second load constraint condition applied to the second drive control are accepted separately. In the first adjustment step, the control device is further configured to perform the first drive control, thereby satisfying the first load constraint condition accepted in the constraint acceptance step.

10. A program for causing one or more processors to execute the adjustment assistance method according to any one of claims 1 to 9.

11. An adjustment assistance system for assisting in adjustments related to a control device controlling the drive of a motor connected to a load. The control device includes a first drive control for testing, which controls the motor drive based on action commands from the adjustment assistance system, and a second drive control for actual operation, which controls the motor drive based on action commands from an external device different from the adjustment assistance system. The adjustment assistance system includes: The constraint acceptance unit accepts inputs of motor constraint conditions relating to at least one of the motor's torque or thrust and the motor's speed; and The adjustment unit is used to adjust one or more parameters set on the control device to enable the control device to perform the first drive control. As a motor constraint condition, the constraint receiving unit separately accepts inputs of a first motor constraint condition applied to the first drive control and a second motor constraint condition applied to the second drive control. The adjustment unit causes the control device to perform the first drive control, so as to satisfy the first motor constraint condition received by the constraint acceptance unit.

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