Adjustment assistance method, program, and adjustment assistance system

Abstract

To achieve an improvement in convenience for a user who performs adjustment relating to a drive system. An adjustment assistance method includes a decision process, a parameter acquisition process, a physical quantity conversion process, and an adjustment information output process. In the decision process, a kind of physical quantity that can vary in accordance with an operation of a motor is decided. In the parameter acquisition process, parameter information is acquired, the parameter information including a first value and a second value that correspond to coordinate positions of two points that are different from each other and that relate to an instruction value, and a first output value and a second output value of the motor that correspond to the first value and the second value, respectively. The physical quantity conversion process includes a conversion process that performs unit conversion from the instruction value to a unit of the kind of physical quantity decided by the decision process, based on the parameter information, and an inverse conversion process that performs reverse unit conversion. In the adjustment information output process, adjustment information to which the conversion process or the inverse conversion process of the physical quantity conversion process is applied is output.

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 for assisting in adjustments related to drive systems having an electric motor and a drive device driven by the power of the electric motor. Background Technology

[0002] Patent Document 1 discloses a development system for a servo system. This development system includes a development aid, a servo driver, and a servo motor. The development aid is used to set and adjust control parameters stored in the servo driver. The adjusted control parameters are transmitted from the development aid to the servo driver. The servo driver drives the servo motor according to these parameters.

[0003] In addition, to enable users to select an object device that utilizes a servo motor and servo driver, the development assistance device displays multiple mechanical structures as candidates for that object device. The development assistance device displays the stiffness value (initial value) corresponding to the selected object device and accepts user operations for changes from the initial value. The stiffness value is associated with a given control parameter; by changing the stiffness value, the given control parameter is also changed.

[0004] Prior art literature

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2011-244668 Summary of the Invention

[0007] Furthermore, in parameter adjustments, users typically use a settling time—a performance indicator representing the extent to which the actual action quickly and accurately follows the desired action of the drive device—especially in applications such as positioning where the device is about to stop. This settling time is evaluated to shorten the time from the completion of the action command to the convergence of the motor and drive device's actions to the settling width (a performance indicator related to stopping accuracy), which represents the target accuracy. In addition, parameter adjustments sometimes involve various parameters other than rigidity. However, there are many types of drive devices, and the number of components in each drive device can be quite large. Moreover, to process multiple pieces of information related to the action command, motor action, and device action, especially when different coordinate systems exist, it is necessary to simultaneously obtain matching information for each component. Therefore, when adjusting parameters, users may find it difficult to input the corresponding drive device parameters (actual size information, etc.) on the input screen where target indicator values ​​are entered before starting the adjustment. Furthermore, when evaluating the aforementioned devices, in addition to the position information of the motor mechanically coupled to the drive unit of the drive unit, external sensors such as laser displacement meters are sometimes used to directly evaluate the motion information of the drive unit. When using external sensors such as laser displacement meters, users may find it difficult to understand the information displayed on the screen. The root cause of these problems is that the user interface, for example in input screens for physical quantities such as width settings, cannot handle simple inputs and settings from users without detailed knowledge regarding the units of physical quantities (displacement, angle, etc.) that vary depending on the actual motor motion for various devices, as well as the units of sensor measurements (displacement, angle, etc.).

[0008] This disclosure is made in view of the above-mentioned reasons, and its purpose is to provide an adjustment assistance method, program, and adjustment assistance system that can improve the convenience of users making adjustments related to the drive system.

[0009] The adjustment assistance method disclosed herein is an adjustment assistance method for assisting adjustments related to a drive system. The drive system includes: an electric motor, a drive unit, a sensor, and a control unit. The drive unit is driven by the electric motor. The sensor performs sensing related to the electric motor or the drive unit. The control unit determines a control value for the electric motor based on a command value and the sensor's sensing results, and controls the electric motor so that the drive unit performs a given action. The adjustment assistance method includes: a decision processing, a parameter acquisition processing, a physical quantity transformation processing, and an adjustment information output processing. In the decision processing, the type of physical quantity that can change according to the action of the electric motor is determined. In the parameter acquisition processing, parameter information is acquired, which includes a first value and a second value corresponding to the coordinate positions of two different points related to the command value, and a first output value and a second output value of the electric motor corresponding to the first value and the second value, respectively. The physical quantity transformation processing includes: a transformation processing that performs a unit transformation from the command value to the unit of the type of physical quantity determined by the decision processing based on the parameter information, and an inverse transformation processing that performs the opposite unit transformation. In the adjustment information output processing, the output is adjustment information related to the drive system that has undergone transformation processing or inverse transformation processing of physical quantity transformation processing.

[0010] Another aspect of this disclosure relates to an adjustment assistance method that assists in adjustments related to a drive system. The drive system includes: an electric motor, a drive unit, a sensor, and a control unit. The drive unit is driven by the electric motor. The sensor performs sensing related to the electric motor or the drive unit. The control unit determines a control value for the electric motor based on a command value and the sensor's sensing results, and controls the electric motor so that the drive unit performs a given action. The control unit has the function of performing an analog-to-digital (AD) conversion on the sensing results of an external sensor (which performs sensing related to the electric motor or drive unit independently of the sensor) to obtain a transformed value. The adjustment assistance method includes sensor information acquisition processing, measured value transformation processing, and specific information output processing. In the sensor information acquisition processing, sensor information is acquired, which includes a first measured value and a second measured value, and a first analog output value and a second analog output value output as analog output values. The first measured value and the second measured value are values ​​related to the range of the measured values ​​measured by the external sensor. The first analog output value and the second analog output value correspond to the first measured value and the second measured value, respectively. Measurement transformation processing includes: transformation processing that converts the analog output value or transformed value to the unit of the measured value based on sensor information, and inverse transformation processing that performs the opposite unit conversion. In specific information output processing, specific information related to the drive system that has undergone the measurement transformation processing or inverse transformation processing is output.

[0011] Another aspect of this disclosure relates to a program for causing one or more processors to execute any of the above-described adjustment assistance methods.

[0012] Another aspect of this disclosure relates to an adjustment assistance system that assists in adjustments related to a drive system. The drive system includes: an electric motor, a drive unit, a sensor, and a control unit. The drive unit is driven by the electric motor. The sensor performs sensing related to the electric motor or the drive unit. The control unit determines a control value for the electric motor based on a command value and the sensor's sensing results, and controls the electric motor so that the drive unit performs a given action. The adjustment assistance system includes: a decision processing unit, a parameter acquisition unit, a physical quantity transformation unit, and an adjustment information output unit. The decision processing unit determines the types of physical quantities that can change according to the motor's operation. The parameter acquisition unit acquires parameter information, which includes: a first value and a second value corresponding to the coordinate positions of two mutually different points related to the command value, and a first output value and a second output value of the motor corresponding to the first value and the second value, respectively. The physical quantity transformation unit has: a transformation function that performs a unit transformation from the command value to a unit of the type of physical quantity determined by the decision processing unit based on the parameter information, and an inverse transformation function that performs the opposite unit transformation. The adjustment information output unit outputs adjustment information related to the drive system that applies the transformation function based on the physical quantity transformation unit or the inverse transformation function based on the inverse transformation function.

[0013] Another aspect of this disclosure relates to an adjustment assistance system that assists in adjustments related to a drive system. The drive system includes: an electric motor, a drive unit, a sensor, and a control unit. The drive unit is driven by the electric motor. The sensor performs sensing related to the electric motor or the drive unit. The control unit determines a control value for the electric motor based on a command value and the sensor's sensing results, and controls the electric motor so that the drive unit performs a given action. The control unit has the function of performing an analog-to-digital conversion (AD conversion) on the sensing results of an external sensor that performs sensing related to the electric motor or the drive unit independently of the sensor, i.e., the analog output value, to obtain a converted value. The adjustment assistance system includes a sensor information acquisition unit, a measurement value conversion unit, and a specific information output unit. The sensor information acquisition unit acquires sensor information, which includes a first measurement value and a second measurement value, and a first analog output value and a second analog output value output as analog output values. The first measurement value and the second measurement value are values ​​related to the range of the measurement value measured by the external sensor. The first analog output value and the second analog output value correspond to the first measurement value and the second measurement value, respectively. The measurement value transformation unit has a transformation function that performs unit transformation from analog output value or transformed value to measured value based on sensor information, and an inverse transformation function that performs the opposite unit transformation. The specific information output unit outputs specific information related to the drive system that has been transformed based on the transformation function of the measurement value transformation unit or inversely transformed based on the inverse transformation function.

[0014] According to this disclosure, there is an advantage in improving the convenience for users to make adjustments related to the drive system. Attached Figure Description

[0015] Figure 1 It is a structural diagram of the overall system, including the adjustment assistance system and the drive system involved in the implementation method.

[0016] Figure 2 This is a block diagram of the drive system involved in the implementation method.

[0017] Figure 3A It is a block diagram of a communication terminal equipped with the adjustment auxiliary system involved in the implementation method.

[0018] Figure 3B This is a block diagram of the adjustment assistance system involved in the implementation method.

[0019] Figure 3C This is a block diagram of the control device in the drive system according to the implementation method.

[0020] Figure 4 This is a concept diagram showing the detailed settings of a linear motion device related to the application of physical quantity transformation processing in the adjustment assistance system according to the implementation method.

[0021] Figure 5 This is a concept diagram showing the detailed settings of the device related to the circular motion device in the adjustment assistance system involved in the implementation method, which is processed by applying physical quantity transformation.

[0022] Figure 6 This is a conceptual diagram showing the detailed settings of the device related to the angle motion device in the adjustment assistance system involved in the implementation method, which is processed by applying physical quantity transformation.

[0023] Figure 7 This is a conceptual diagram of the sensor detailed setting screen for the application measurement value transformation processing in the adjustment auxiliary system involved in the implementation method.

[0024] Figure 8 This is a concept diagram of another example of a sensor detailed setting screen for the application measurement value transformation processing in the adjustment auxiliary system involved in the implementation method.

[0025] Figure 9 This is a concept diagram of another example of a sensor detailed setting screen for the application measurement value transformation processing in the adjustment auxiliary system involved in the implementation method.

[0026] Figure 10 This is a graph showing the transformed data based on the measured value transformation processing in the adjustment assistance system according to the embodiment. Detailed Implementation

[0027] (summary)

[0028] Hereinafter, the adjustment assistance methods, procedures, and adjustment assistance systems involved in the embodiments and modifications will be described with reference to the accompanying drawings. Furthermore, the embodiments and modifications described below are only one of the various embodiments of this disclosure. In addition, the embodiments and modifications described below can be modified in various ways, such as by design, as long as the purpose of this disclosure is achieved. Furthermore, the structures of the modifications can be appropriately combined.

[0029] The figures described in the following embodiments and variations are schematic diagrams, and the ratios of the size and thickness of each component are not necessarily limited to reflecting the actual size ratios.

[0030] Figure 1 It is a structural diagram of the overall system including the adjustment assistance system 1 and the drive system 2 involved in the implementation. Figure 2 This is a block diagram of the drive system 2 according to the embodiment. The adjustment assistance method according to this embodiment assists the drive system 2 (refer to...). Figure 1 The relevant adjustment auxiliary methods.

[0031] like Figure 1, Figure 2 As shown, the drive system 2 includes: a motor M1 (e.g., a servo motor), a drive unit 4, and a sensor 5 (here, a position detector 51: see reference). Figure 2 The drive unit 4 is powered by the motor M1. The sensor 5 performs sensing related to the motor M1 or the drive unit 4. The control unit 3 determines the control value of the motor M1 based on the command value and the sensing results of the sensor 5, and controls the motor M1 so that the drive unit 4 performs the given action.

[0032] In this embodiment, it is assumed that the number of motors M1 is one, but the number is not particularly limited.

[0033] In this embodiment, the driving device 4 includes a linear motion device 4A (see reference 4A). Figure 4 ), Circular motion device 4B (refer to) Figure 5 ) and angle motion device 4C (refer to Figure 6 Either of the following. Additionally, when the drive unit 4 includes a linear motion device 4A or a circular motion device 4B, it sometimes also includes a reducer 4D (see reference). Figure 4 , Figure 5 In addition, the drive unit 4 can also be a multi-axis drive unit, such as a frame mechanism.

[0034] In this embodiment, the function of the control device 3 is set to drive and control the motor M1 (servo motor) via the servo amplifier A1 (see reference). Figure 1 ).

[0035] In the following example, we assume that motor M1 is a rotary servo motor. The rotary motion transmitted from the output shaft of the rotary servo motor can be converted into linear motion, for example, by a drive device 4 such as a ball screw. However, motor M1 is not limited to a rotary servo motor; it can also be a linear servo motor.

[0036] Drive system 2 can be used in facilities such as factories to install semiconductor components, process components, or transport finished or semi-finished products.

[0037] Furthermore, users of drive system 2 can perform a preliminary operation check before actually operating drive system 2 to confirm whether drive system 2 can achieve the desired action. To perform this preliminary operation check, users sometimes use the user interface to set various parameters related to drive system 2 (moving range of movable parts, gain, etc.) and perform a test run of drive system 2. Additionally, an external sensor 8 (see reference 8) is used to verify and measure the operability. Figure 2(e.g., laser displacement gauge 81), and when there is an offset error superimposed on the sensor measurement value, an offset correction value is set to compensate for the error so that the error does not affect the confirmation of the action. Examples of user interfaces for setting these parameters include laptops, tablets, and desktop personal computers. After making the above settings, the user performs a test operation to confirm whether the desired action performance is met, such as whether the setpoint time meets the target value. If the desired value is not met, the control parameters of the servo amplifier are adjusted.

[0038] In setting up and evaluating the operability of such pre-operations, mastering the amount of motion of the drive device that operates via the electric motor is extremely important. However, there are various drive mechanisms in the equipment, and the amount of motion of the electric motor may not be consistent with the amount of motion of the drive device. Furthermore, when using an external sensor 8 for confirming and measuring operability, the change in the external sensor 8 during operation may also differ from either the movement of the electric motor or the drive mechanism. In addition, to operate the electric motor and equipment, an operation command is input to the servo amplifier, but this operation command may also differ from any of the aforementioned parameters. Their values ​​have a linear relationship, but the different unit systems mean that proper setting and evaluation are required based on a thorough understanding of the relationships between all unit systems, which is very difficult for non-skilled personnel.

[0039] In addition, there can be multiple types of drive devices 4 used in the facility. Examples of drive devices 4 include ball screws, pulleys, conveyor belts, racks and pinions, traveling carriages, rotating arms, gearboxes, and timing belts. Furthermore, depending on the type of drive device 4, the number of its constituent elements can sometimes be quite large. As a result, users may find it difficult to consider the types of drive devices 4, grasp the relationships between all units, and perform pre-action settings and performance evaluations on the user interface screen.

[0040] Therefore, the adjustment assistance method involved in this embodiment includes: decision processing, parameter acquisition processing, physical quantity transformation processing, and adjustment information output processing.

[0041] In the decision processing, the type of physical quantity (e.g., displacement) that can change according to the operation of motor M1 is determined. In the parameter acquisition processing, parameter information is acquired, which includes a first value and a second value corresponding to the coordinate positions of two points that are related to the command value and are different from each other, and a first output value and a second output value of motor M1 corresponding to the first value and the second value, respectively.

[0042] The physical quantity transformation processing includes: a transformation process that converts the command value to a unit of the type of physical quantity determined by the decision process based on parameter information, and an inverse transformation process that performs the opposite unit conversion. In the adjustment information output processing, adjustment information related to drive system 2 that has undergone the physical quantity transformation processing or inverse transformation processing is output.

[0043] According to the adjustment assistance method described in this embodiment, since the output adjustment information applies transformation processing or inverse transformation processing, the user can easily adjust the unit of the physical quantity that changes according to the operation of the motor M1 by simply inputting, for example, minimal and easily understood information representing the relationship between different physical quantities in the unit system on the user interface. In short, the input or output is easily correlated with the numerical value in the unit of the physical quantity (e.g., displacement). As a result, the convenience for the user to make adjustments related to the drive system 2 is improved.

[0044] The adjustment assistance method described in this embodiment is used in 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 used to cause 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.

[0045] In addition, the adjustment assistance system 1 involved in this embodiment assists in adjustments related to the drive system 2 described above. Figure 3B This is a block diagram of the adjustment assistance system 1 involved in the implementation method. For example... Figure 3B As shown, the adjustment auxiliary system 1 includes: a decision processing unit 13, a parameter acquisition unit (second acquisition unit 12), a physical quantity conversion unit 14, and an adjustment information output unit 15.

[0046] The decision processing unit 13 determines the type of physical quantity that can change according to the operation of the motor M1. The parameter acquisition unit (second acquisition unit 12) acquires parameter information, which includes a first value and a second value corresponding to the coordinate positions of two points that are related to the command value and are different from each other, and a first output value and a second output value of the motor M1 corresponding to the first value and the second value, respectively.

[0047] The physical quantity conversion unit 14 has a conversion function that performs a unit conversion from a command value to a unit of the type of physical quantity determined by the decision processing unit 13 based on parameter information, and an inverse conversion function that performs the opposite unit conversion. The adjustment information output unit 15 outputs adjustment information related to the drive system 2 that applies the conversion function based on the physical quantity conversion unit 14 or the inverse conversion function based on the inverse conversion function.

[0048] The adjustment assistance system 1 according to this embodiment has the advantage of improving the convenience for users to make adjustments related to the drive system 2.

[0049] In addition, when evaluating the settling time, which represents the time it takes for the operation of, for example, the motor M1 and the drive device 4 to converge to the settling width (a performance indicator related to stopping accuracy) representing the accuracy set as the target, information based on the sensing results of the external sensor 8 (e.g., laser displacement meter 81) is sometimes displayed on the display unit. However, the user may have difficulty understanding the information displayed on the screen.

[0050] Therefore, another example of this embodiment involves an adjustment assistance method that assists in adjustments related to the drive system 2 described above. The control device 3 of the drive system 2 described above has the following function: it performs an AD conversion on the analog output value of the sensing result of the external sensor 8, which senses the motor M1 or the drive device 4 independently of the sensor 5, to obtain the converted value.

[0051] The adjustment assistance method described in the other example above includes: sensor information acquisition processing, measured value transformation processing, and specific information output processing. In the sensor information acquisition processing, sensor information is acquired, which includes a first measured value and a second measured value, and a first analog output value and a second analog output value output as analog output values. The first measured value and the second measured value are values ​​related to the range of the measured values ​​measured by the external sensor 8. The first analog output value and the second analog output value correspond to the first measured value and the second measured value, respectively.

[0052] The measured value transformation processing includes: a transformation process that converts the analog output value or transformed value to the measured value based on sensor information, and an inverse transformation process that performs the opposite unit transformation. In the specific information output processing, specific information related to the drive system 2 is output, having undergone the measured value transformation processing or inverse transformation processing.

[0053] According to the adjustment assistance method described in the other example above, since the output applies specific information through transformation processing or inverse transformation processing, the user can easily adjust it in units of the measured values ​​determined by the external sensor 8. In short, the input or output values ​​easily correspond to the units of the measured values ​​(displacement, angle, etc.) of the external sensor 8. As a result, the convenience for users to make adjustments related to the drive system 2 is improved.

[0054] The adjustment assistance method described in the other example above is used in a computer system (adjustment assistance system 1). That is, the adjustment assistance method described in the other example above can also be implemented through a computer program. The program described in the other example is a program used to cause one or more processors to execute the adjustment assistance method described in the other example above. The program can also be recorded on a non-transitory recording medium that can be read by a computer.

[0055] Furthermore, in another example of this embodiment, the adjustment assistance system 1 assists in adjustments related to the aforementioned drive system 2. The control device 3 of the aforementioned drive system 2 has the following function: performing an AD conversion on the sensing result of the external sensor 8, i.e., the analog output value, to obtain the converted value.

[0056] like Figure 3B As shown, the adjustment assistance system 1 described in the other example above includes: a sensor information acquisition unit 16, a measurement value conversion unit 17, and a specific information output unit 18. The sensor information acquisition unit 16 acquires sensor information, which includes a first measurement value and a second measurement value, and a first analog output value and a second analog output value output as analog output values. The first measurement value and the second measurement value are values ​​related to the range of the measurement value measured by the external sensor 8. The first analog output value and the second analog output value correspond to the first measurement value and the second measurement value, respectively.

[0057] The measurement value transformation unit 17 has a transformation function that performs unit transformation from analog output value or transformed value to measurement value based on sensor information, and an inverse transformation function that performs the opposite unit transformation. The specific information output unit 18 outputs specific information related to the drive system 2 that has been transformed based on the transformation function of the measurement value transformation unit 17 or inversely transformed based on the inverse transformation function.

[0058] In the adjustment assistance system 1 mentioned in the other example above, there is an advantage that it improves the convenience for users to make adjustments related to the drive system 2.

[0059] Furthermore, in the above example, the settling time was used as an example to illustrate the evaluation index value for the operability of the motor M1 and drive device 4 when they are about to stop. However, overshoot can also be used as an evaluation index value. Additionally, as an evaluation index value, to evaluate the overall operability of the motor M1 and drive device 4 during operation, the maximum value or effective value of the difference between the action detection value and the action command can also be used. Further, as an evaluation index value, since an external scale and accelerometer are connected as external sensors 8 in the drive system 2, the index value can also be based on their values. In the case of an external scale, the same index value as that of the laser displacement meter 81 and position detector 51 can be used as the evaluation index value. In the case of an accelerometer, the evaluation index value can be the maximum value or effective value of the vibration component obtained by extracting the vibration component contained in the sensor value using a bandpass filter, etc., during operation or only when about to stop. Furthermore, a pressure sensor used to evaluate the pushing force of a press or similar device can also be used as the external sensor 8. In the case of pressure sensors, the difference lies not in the unit system of positional dimensions such as the action command and the amount of action recorded here, but in the unit system of pressure reference such as the analog value and the pressure. However, even in this case, in order to achieve a match between the two unit systems, it is necessary to consider the difference in unit systems. When making settings related to the sensor, there is also an issue that requires proper consideration of the unit system.

[0060] In the following embodiment, it is envisioned that all the functions of the adjustment auxiliary system 1 are assigned to the communication terminal 7 (see reference). 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.

[0061] (detailed)

[0062] (1) Overall structure

[0063] The following is for reference Figure 1 , Figure 2 , Figures 3A-3C The system comprising the adjustment assistance system 1 (communication terminal 7), the drive system 2 and its surrounding structures as described in this embodiment will be described in detail.

[0064] The adjustment auxiliary system 1 is configured to, for example, allow the user to adjust (set) various parameters related to the drive system 2 for device evaluation purposes such as setting time, and assist in adjusting (action adjustment) the test operation actions performed by the drive system 2. The peripheral structure refers, for example, to the host controller 6. The host controller 6 can also be considered as part of the structure of the drive system 2.

[0065] Hereinafter, the test operation of the drive system 2, which is executed according to the instruction position from the communication terminal 7, will sometimes be referred to as a "test operation" (given operation). In addition, the operation of the drive system 2, which is adjusted based on the results obtained from the test operation and is related to the normal operation of processing the object (workpiece), will sometimes be referred to as an "operation operation" (given operation). In this embodiment, the given operation includes, for example, both the test operation and the operation operation.

[0066] When introducing or relocating the drive system 2 in a factory or other facility, test operations can be performed after assembling various devices of the drive system 2. Additionally, during routine maintenance of the drive system 2, test operations can be performed after confirming and restoring any malfunctions that occur in the drive system 2, or after replacing any devices or components of the drive system 2.

[0067] Even when there is no upper controller 6 (that is, the upper controller 6 is not communicatively connected to the control device 3) due to reasons such as incomplete setup of the upper controller 6, the test operation can still be performed.

[0068] The adjustment assistance method and adjustment assistance system 1 disclosed herein can be applied not only to test actions but also to operational actions.

[0069] (2) Drive system

[0070] like Figure 1 , Figure 2 As shown, the drive system 2 includes a motor M1 (for example, a rotary servo motor), a drive unit 4, a sensor 5, and a control unit 3 (servo amplifier A1). Additionally, an external sensor 8 (see reference 5) is used to confirm and measure the operation of the motor M1 and the drive unit 4. Figure 2 It can also be applied to drive system 2.

[0071] The drive device 4 is driven by the electric motor M1. As mentioned above, the drive device 4 in this disclosure is considered to be of several types. In this disclosure, the types of drive devices 4 are broadly classified as, for example, linear motion devices 4A (see...). Figure 4 ), Circular motion device 4B (refer to) Figure 5 ) and angle motion device 4C (refer to Figure 6 These three. In other words, the drive device 4 that becomes the driven object includes any one of the linear motion device 4A, the circular motion device 4B, and the angular motion device 4C. Through the device detail setting screen G1 described later, the user receives a selection input to choose which of the three general categories the drive device 4 that becomes the driven object conforms to.

[0072] Linear motion device 4A is a device that performs linear motion on the movable part (load) of drive device 4. For example, a ball screw that converts the rotary motion transmitted from the output shaft of motor M1 into linear motion is classified as linear motion device 4A. Hereinafter, a ball screw will be used as an example of linear motion device 4A for explanation. When drive device 4, which is the object being driven, includes linear motion device 4A, it is envisioned that it also includes reducer 4D (gear reducer), but reducer 4D is not mandatory. Reducer 4D can also be a belt reducer. When drive device 4 includes ball screw, motor M1 can also be a linear motor.

[0073] A circular motion device 4B is a device that allows the movable part of the drive device 4 to move along a roughly circular path. For example, pulleys, conveyor belts, racks and pinions, traveling carriages, and rotating arms that convert the rotational motion transmitted from the output shaft of the motor M1 into circular motion are classified as circular motion devices 4B. Hereinafter, a pulley will be used as an example of a circular motion device 4B. When the drive device 4, which is the object of drive, includes a circular motion device 4B, it is conceivable that a reducer 4D (gear reducer) will also be included; however, the reducer 4D is not mandatory. The reducer 4D can also be a belt reducer.

[0074] An angular motion device 4C is a device that rotates the movable part of the drive device 4. For example, a transmission (e.g., a speed reducer) that rotates based on rotational motion transmitted from the output shaft of the motor M1, and a timing belt, are classified as angular motion devices 4C. Hereinafter, a speed reducer 4D (gear reducer) will be described as an example of an angular motion device 4C. The speed reducer 4D can also be a belt reducer.

[0075] Sensor 5 performs sensing related to the electric motor M1 or the drive unit 4. The number and type of sensor 5 are not particularly limited. For example, the drive system 2 can have multiple sensors 5. Specifically, the multiple sensors 5 can include position detectors 51 such as encoders that detect the rotational direction and position (angle) of the electric motor M1. Additionally, the multiple sensors 5 can also include speed sensors that detect the speed of the electric motor M1 or the moving part of the drive unit 4, acceleration sensors that detect acceleration, force sensors that detect thrust (or torque), and vibration sensors that detect vibration. Force sensors include, for example, piezoelectric, magnetostrictive, or strain gauge type force sensors.

[0076] External sensor 8 performs sensing related to motor M1 or drive unit 4 independently of sensor 5. Hereinafter, as an example, it is conceivable that external sensor 8 is a laser displacement meter 81 that detects the amount of movement (displacement) of the movable part in drive unit 4 (see [reference]). Figure 2 This is to explain the situation.

[0077] The control device 3 (servo amplifier A1) determines the control value of the motor M1 based on the command value and the sensing results of the sensor 5, and controls the motor M1 so that the drive device 4 performs the given action (test action and operation action). Furthermore, it is envisioned that the sensing results of the external sensor 8 (laser displacement meter 81) are used to confirm and measure the responsiveness of the motor M1 and the drive device 4, but are not used in determining the control value of the motor M1. However, the sensing results of the external sensor 8 can also be used to determine the control value of the motor M1.

[0078] For example, during operation, the control device 3 performs feedback control based on the position detection signal of the motor M1 from the position detector 51 (sensor 5) and the operation control signal containing the command value (command position) from the upper controller 6, and drives the motor M1 to execute the given action (operation action). Specifically, as Figure 2 As shown, the control device 3 includes a position and speed control unit 30. The position and speed control unit 30 performs feedback control to ensure that the motion quantity (detected value) related to the position of the motor M1 from the position detector 51 (sensor 5) matches the position command value of the motor M1, which is an action command from the upper controller 6, thereby determining the speed of the motor M1 and outputting a speed command signal. Furthermore, the unit of the output signal representing the detected value output from the position detector 51 is a pulse.

[0079] Additionally, for example, during a test operation, the control device 3 drives the motor M1 to perform a given action (test operation) based on the position detection signal from the sensor 5 and the test control signal containing the command value (command position) from the communication terminal 7.

[0080] 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 only being able to output to the motor's position detector with relatively coarse resolution, electronic gear settings can be performed in the servo amplifier to allow for different pulse units for the motor's position detector and the action command from the host controller. This electronic gear setting can also be performed in the control device 3 (servo amplifier A1). By setting the gear ratio of the electronic gear within the servo amplifier A1, the command value (number of pulses) from the host controller 6 or communication terminal 7 is applied to this gear ratio, determining the motor output (angle). In other words, by setting the electronic gear, the number of pulses from the external action command can be freely processed, and the motor output is determined by the processed number of pulses. For example, for an action command (command value) from the host controller 6 of 10,000 pulses, the motor output can be set to 360 degrees (that is, 1 rotation).

[0081] The test action can be, for example, a movement of the drive device 4 from the origin position (starting position) to a position (ending position) specified by the command position. The starting position can also be other than the origin position. Additionally, the test action can be a movement from the origin position (starting position) to a position (ending position) specified by the command position. Furthermore, the test action can be a reciprocating movement from the origin position (starting position) to a position to the positive side and then back to the origin position (ending position). Additionally, the test action can be a reciprocating movement between positive and negative sides, from the origin position (starting position) to a position to the positive side and then back to the origin position, and then to a position to the negative side and then back to the origin position (ending position).

[0082] Figure 3C This is a block diagram of the control device 3 in the drive system 2 according to the embodiment. For example... Figure 3C As shown, the control device 3 includes: a processing unit 31, an AD conversion unit 32, a power conversion unit 33, and a storage unit 34.

[0083] The processing unit 31 includes a computer system having one or more processors and memory. The processor of the computer system executes programs recorded in the computer system's memory, thereby implementing at least a portion of the functions of the processing unit 31. 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.

[0084] The processing unit 31 determines a control value based on the speed command signal from the position and speed control unit 30. The control value may include, for example, a command value for the torque of the motor M1 (or, in the case of a linear motor, thrust). Based on the determined control value (the command value for torque), the processing unit 31 controls the power conversion unit 33 to adjust the power (drive current) supplied to the motor M1. As a result, the processing unit 31 drives the movable part of the drive device 4 to a given position.

[0085] The control device 3 is communicatively connected to the sensor 5 (position detector 51) and the external sensor 8 (laser displacement meter 81), and receives the sensing results from the sensor 5 and the external sensor 8. The control device 3 receives the sensing results from the external sensor 8 as an analog voltage signal (or it could be a current signal).

[0086] The AD conversion unit 32 performs analog-to-digital (AD) conversion on the sensing result (voltage value or current value) of the external sensor 8, and outputs the converted value obtained by the AD conversion to the processing unit 31. The converted value can be, for example, an analog quantization unit value [LSB: Least Significant Bit].

[0087] The control device 3 transmits various information during the test or operation to the communication terminal 7. For example, during the test or operation, the control device 3 transmits information including the sensing results (digital values ​​based on transformation values) of external sensors 8 such as the laser displacement gauge 81. Based on the information received from the control device 3, the communication terminal 7 can graphically output evaluation information (specific information) related to the drive device 4. The communication between the control device 3 and the communication terminal 7 can be wireless or wired.

[0088] The storage unit 34 includes a non-volatile semiconductor memory, such as a flash memory, that can be electrically rewritten. The storage unit 34 is configured to store information calculated by the communication terminal 7. The information stored in the storage unit 34 can be updated by the processing unit 31.

[0089] During test or operation, the control device 3 adjusts the drive current based on the action commands from the upper controller 6 or communication terminal 7, the action quantity from the position detector 51 (sensor 5), and control parameters to control the motor M1.

[0090] (3) Upper controller

[0091] The host controller 6 comprises a computer system with one or more processors and memory. The processors of the computer system execute 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 stored in memory, provided via electrical communication lines such as the Internet, or provided via non-transitory recording media such as memory cards.

[0092] The host controller 6, for example, is configured using a programmable logic controller (PLC) and controls the operation of 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 contain data for specifying command values ​​(command positions).

[0093] (4) Communication terminal

[0094] like Figure 1 As shown, the communication terminal 7 is envisioned as a laptop computer. However, the communication terminal 7 can also be a tablet computer, a smartphone, or other portable terminal, or even a desktop personal computer or server device.

[0095] The communication terminal 7 can be communicatively connected to the control device 3 (servo amplifier A1). 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 is envisioned to be used in the following manner: for example, during operation, it is not connected to the control device 3, but only during test operations. However, the communication terminal 7 can also be connected to the control device 3 during operation.

[0096] Figure 3A This is a block diagram of a communication terminal 7 equipped with the functions of the adjustment assistance system 1 according to the embodiment. For example... 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, it is preferable to attach a separate display device to the communication terminal 7.

[0097] The processing unit 71 includes a computer system having one or more processors and memory. The processor of the computer system executes programs recorded in the computer system's memory, thereby implementing at least a portion of the functions of the processing unit 71. 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.

[0098] The processing unit 71 has an instruction function for issuing commands to perform test actions. Furthermore, the processing unit 71 also has the function of the adjustment assistance system 1 according to this embodiment. The communication terminal 7 is pre-installed with dedicated application software for communicating with the control device 3 and further having the function of issuing test action commands and the function of the adjustment assistance system 1. Details regarding the adjustment assistance system 1 will be described later.

[0099] 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.

[0100] The operation unit 72 includes, for example, one or more of a mouse, keyboard, and pointing devices. The user operates the operation unit 72 to input information by referring to the information displayed on the display unit 70. For example, to start a test operation, the user connects the communication terminal 7 to the control device 3. Furthermore, the user uses the operation unit 72 to launch dedicated application software on the communication terminal 7 and performs operation input related to the output execution of the aforementioned command positions to the control device 3. When the display unit 70 is configured as a touch panel type display, it also functions as the operation unit 72.

[0101] The storage unit 73 includes a non-volatile semiconductor memory that can be electrically rewritten, such as flash memory. The storage unit 73 stores, for example, parameter information input to the device detail setting screen G1 and sensor detail setting screens G2-G4 (described later), transformation information generated based on the parameter information, and instruction location information. The storage unit 73 may also be the memory of the processing unit 71.

[0102] (5) Adjust the auxiliary system

[0103] The structure of the adjustment auxiliary system 1 will be described in detail below.

[0104] The adjustment assistance system 1 includes a computer system with one or more processors and memory. The processors of the computer system execute programs recorded in the computer system's memory to implement at least a portion of the functions of the adjustment assistance system 1. 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.

[0105] Adjustments related to auxiliary system 1 and drive system 2. For example... Figure 3BAs shown, the adjustment assistance system 1 includes: a first acquisition unit 11 (type acquisition unit), a second acquisition unit 12 (parameter acquisition unit), a decision processing unit 13, a physical quantity conversion unit 14, an adjustment information output unit 15, a sensor information acquisition unit 16, a measured value conversion unit 17, and a specific information output unit 18. The functions of these units are installed in the processing unit 71 of the communication terminal 7. Details regarding the sensor information acquisition unit 16, the measured value conversion unit 17, and the specific information output unit 18 will be described later.

[0106] The first acquisition unit 11 (type acquisition unit) acquires type information that specifies the type of the drive device 4. In other words, the adjustment assistance method includes a first acquisition process (type acquisition process), in which the aforementioned type information is acquired. Furthermore, the first acquisition unit 11 (type acquisition unit) is not necessary for the adjustment assistance system 1, and similarly, the first acquisition process (type acquisition process) is not necessary for the adjustment assistance method.

[0107] The decision processing unit 13 determines the types of physical quantities that can change according to the operation of the motor M1. In other words, the adjustment assistance method includes decision processing, in which the types of physical quantities that can change according to the operation of the motor M1 are determined.

[0108] Here, as an example, the decision processing unit 13 determines the type of physical quantity that can change according to the operation of the motor M1 based on the type of the drive device 4 specified by the type information. In other words, the adjustment assistance method includes a decision processing in which the type of the aforementioned physical quantity is determined based on the type of the drive device 4 specified by the type information.

[0109] In this embodiment, the types of drive devices 4 are roughly divided, and the user specifies (selects) the type of drive device 4 that will be the drive object from three types: linear motion device 4A, circular motion device 4B, and angular motion device 4C.

[0110] Figure 4 This is a conceptual diagram of the detailed setting screen G1 of the device related to the linear motion device 4A that applies physical quantity transformation processing in the adjustment assistance system 1 according to the implementation method. Figure 5 This is a concept diagram of the detailed setting screen G1 of the device related to the circular motion device 4B that applies physical quantity transformation processing in the adjustment assistance system 1 according to the embodiment. Figure 6 This is a conceptual diagram of the detailed setting screen G1 of the adjustment assistance system 1 according to the embodiment, which relates to the angle motion device 4C that processes physical quantity transformation. The adjustment assistance system 1 includes a display unit 70 that displays... Figures 4-6The device detailed settings screen G1 shown here has the following functions. The user uses the operation unit 72 to launch a dedicated application software on the communication terminal 7 to perform operation input for detailed device settings, thereby enabling the device detailed settings screen G1 to be displayed as a window screen, for example.

[0111] [Device Detailed Settings Screen]

[0112] The device detailed settings screen G1 includes a selection area R0 for specifying the "device type" (see reference). Figures 4-6 The selection area R0 is a drop-down area containing a down arrow marker. When the user uses an operation unit 72 such as a mouse to press the button marked with the down arrow in the selection area R0, the selectable types, namely linear motion devices, circular motion devices, and angular motion devices, are displayed. The user selects one from this list, and the image area related to the corresponding device is displayed on the device detail settings screen G1. The first acquisition unit 11 acquires the "device type" selected by the user in the selection area R0 as type information.

[0113] like Figure 4 As shown, when the user selects "Linear Motion Device" in the selection area R0, the image area related to the linear motion device 4A is displayed on the device detailed settings screen G1. Additionally, as... Figure 5 As shown, when the user selects "Circular Motion Device" in the selection area R0, the image area related to the circular motion device 4B is displayed on the device detailed settings screen G1. Additionally, as... Figure 6 As shown, when the user selects "Angle Motion Device" in the selection area R0, the image area related to the angle motion device 4C is displayed on the device detailed settings screen G1.

[0114] To facilitate user understanding, the detailed device settings screen G1 includes: an image area R1 schematically showing a series of processes related to the input and output from "Amplifier and Motor Electronic Gear Settings" to "(Selected) Drive Device 4", and icon images R2 and R3 schematically showing the selected drive device 4. Figure 6 As shown, depending on the type of drive device 4 selected, sometimes only one of the icon images R2 and R3 is displayed.

[0115] Image region R1 shows physical quantities related to the action of drive device 4 at its right end. Figure 4 , Figure 5 The displacement [mm] (i.e., the amount of movement) is shown in the figure. Figure 6 The angle [deg] is shown in the figure. This physical quantity is related to the type of physical quantity of the drive device 4, which is determined by the decision processing unit 13 based on the type of drive device 4 specified by the type information (selected in the selection area R0).

[0116] The decision processing unit 13 is configured to determine the type of physical quantity as "displacement" when the type of the drive device 4 specified by the type information is either a linear motion device 4A or a circular motion device 4B. Figure 4 , Figure 5 In this context, the displacement is indicated as [mm]. In other words, when the type of drive device 4 specified by the type information is a linear motion device 4A or a circular motion device 4B, the type of physical quantity is determined to be displacement in the decision processing involved in the adjustment assistance method.

[0117] Furthermore, the decision processing unit 13 is configured to determine the type of physical quantity as "angle" when the type of the drive device 4 specified by the type information is an angle motion device 4C. In other words, when the type of the drive device 4 specified by the type information is an angle motion device 4C, the type of physical quantity is determined as angle in the decision processing involved in the adjustment assistance method.

[0118] The information indicating which type of device (linear motion device 4A, circular motion device 4B, angular motion device 4C) corresponds to which type of physical quantity is stored in the storage unit 73. The decision processing unit 13 can refer to this information to determine the type of physical quantity.

[0119] In this embodiment, the "physical quantity that can change according to the operation of the motor M1" is envisioned as a physical quantity that is easy for the user to understand intuitively, such as displacement or angle.

[0120] The icon image R2 can be displayed when the selected drive unit 4 includes a reducer 4D. For example... Figure 4 , Figure 5 As shown, icon image R2 can be displayed when either linear motion device 4A or circular motion device 4B is selected. Icon image R2 schematically shows a diagram of motor M1 and reducer 4D. The driving gear (drive wheel) of reducer 4D is connected to the output shaft of motor M1. Rotation of the output shaft of motor M1 causes the driving gear to rotate, and the driven gear (drive wheel) of reducer 4D rotates at a reduced speed. The driven gear is connected to direct this rotation to subsequent devices (…). Figure 4 The middle part is the linear motion device 4A. Figure 5 The middle part is the circular motion device 4B) for transmission.

[0121] Icon image R3 schematically illustrates a device selected from linear motion device 4A, circular motion device 4B, and angular motion device 4C. In Figure 4 In the diagram, icon image R3 schematically illustrates a ball screw as an example of a linear motion device 4A. Figure 5In the diagram, icon image R3 schematically illustrates a pulley as an example of a circular motion device 4B. Figure 6 In the diagram, icon image R3 schematically illustrates a reducer 4D as an example of an angular motion device 4C. In Figure 6 Since the drive unit 4 only includes the reducer 4D, the icon image R3 also schematically shows a diagram of the motor M1 connected to the reducer 4D.

[0122] Figures 4-6 Within the image region R1, "X6" indicates the command position input to the control device 3 [command unit: pulse count], and "Y6" indicates the motor output [deg] from the motor M1. Additionally, Figures 4-6 In the image area R1 and the icon images R2 and R3, "X7" represents the angle [deg] input to the driving wheel of reducer 4D, and "Y7" represents the angle [deg] output from the driven wheel of reducer 4D. In essence, Y6 = X7 holds true.

[0123] in addition, Figure 4 In the image area R1 and the icon image R3, "X8" represents the angle [deg] input to the linear motion device 4A, and "Y8" represents the amount of movement (displacement [mm]) output from the linear motion device 4A. In essence, Y7 = X8 holds true.

[0124] in addition, Figure 5 In the image region R1 and the icon image R3, “X9” represents the angle [deg] input to the circular motion device 4B, and “Y9” represents the amount of movement (displacement [mm]) output from the circular motion device 4B. In essence, Y7 = X9 holds true.

[0125] In addition, the detailed device settings screen G1 also includes an input area R11 for "Amplifier and Motor Electronic Gear Settings," an input area R12 for "Reducer Settings," and an input area R13 for "Device Settings." For example... Figure 6 As shown, depending on the type of drive unit 4 selected, the input area R12 for "reducer setting" is sometimes not displayed.

[0126] Furthermore, the device detailed settings screen G1 includes: an application button R21 that accepts instructions to apply (set) information input into input areas R11 to R13, and a cancel button R22 that cancels the input information. When the cancel button R22 is pressed, the device detailed settings are suspended.

[0127] In summary, when the adjustment assistance system 1 obtains the type information for specifying the type of the drive device 4 through the selection area R0 of the device detailed setting screen G1, it updates the display content of the device detailed setting screen G1 based on the type of the drive device 4 specified by the type information. At this time, the adjustment assistance system 1 determines the type of physical quantity related to the operation of the drive device 4 based on the type of the drive device 4 specified by the type information, and updates the display content accordingly, so as to indicate the unit of the type of physical quantity determined in the image area R1.

[0128] The decision processing unit 13 can determine the type of physical quantity as any one of displacement, angle, velocity, acceleration, angular velocity, angular acceleration, thrust, and torque. In other words, in the decision processing of the adjustment assistance method, the type of physical quantity is determined as any one of displacement, angle, velocity, acceleration, angular velocity, angular acceleration, thrust, and torque. Here, as an example, it is assumed that the decision processing unit 13 determines either displacement or angle.

[0129] The second acquisition unit 12 (parameter acquisition unit) acquires parameter information, which includes a first value and a second value corresponding to the coordinate positions of two points that are different from each other (e.g., the coordinate positions of two points of the movable part (load) of the drive device 4), and a first output value and a second output value of the motor M1 corresponding to the first value and the second value, respectively. In other words, the adjustment assistance method includes a second acquisition process (parameter acquisition process), in which the above-mentioned parameter information is acquired.

[0130] In this embodiment, the second acquisition unit 12 acquires parameter information through the input areas R11 to R13 of the device detailed setting screen G1 described above.

[0131] In this embodiment, as an example, it is assumed that the first value and the second value mentioned above are the maximum and minimum values ​​in the instruction value, respectively. Specifically, the input area R11 includes: an input field R111 that accepts input of the "maximum (value) of the instruction position" corresponding to the first value related to the instruction value, and an input field R112 that accepts input of the "minimum (value) of the instruction position" corresponding to the second value related to the instruction value (see reference). Figures 4-6 In addition, the input area R11 also includes: input field R113, which accepts the input of "maximum (value) of motor output" which is equivalent to "first output value of motor M1", and input field R114, which accepts the input of "minimum (value) of motor output" which is equivalent to "second output value of motor M1".

[0132] In addition to the first (maximum) and second (minimum) values ​​related to the aforementioned command values, and the first and second output values ​​of the motor M1, the parameter information may also include setting information related to the reducer 4D and the device.

[0133] Figure 4 The input area R12 includes input fields R121, R122, R123, and R124, which accept inputs for the "gear speed ratio," "product of the number of teeth on the driving gear," "product of the number of teeth on the driven gear," and "(reducer output) initial angle," depending on the selection of the linear motion device 4A. Additionally, Figure 5 The input area R12 also includes input fields R121, R122, R123, and R124, depending on the selection of the circular motion device 4B. The gear speed ratio can also be automatically displayed from the input field R121 based on the input value of the product of the number of teeth of the driving gear and the product of the number of teeth of the driven gear, which is input to the input fields R122 and R123.

[0134] Figure 4 The input area R13 includes input fields R131 and R132 that accept the input of "screw lead" and "origin position" as setting information for the ball screw, depending on the selection of the linear motion device 4A.

[0135] Figure 5 The input area R13 includes input fields R133 and R134 that accept the input of "rotation diameter" and "origin position" as setting information for the pulley, depending on the selection of the circular motion device 4B.

[0136] Figure 6 The input area R13 includes input fields R135, R136, R137, and R138, which accept the input of "gear speed ratio," "product of the number of teeth on the driving gear," "product of the number of teeth on the driven gear," and "(reducer output) initial angle," depending on the selection of the angle motion device 4C. As an example, Figure 6 The input region R13 and Figure 4 , Figure 5 The input region R12 is the same.

[0137] The physical quantity transformation unit 14 has a transformation function that performs a unit transformation from an instruction value to a unit of the type of physical quantity determined by the determination processing unit 13 based on parameter information, and an inverse transformation function that performs the opposite unit transformation. In other words, the adjustment assistance method includes physical quantity transformation processing, which includes the above-mentioned transformation processing and inverse transformation processing.

[0138] In this embodiment, the physical quantity transformation unit 14 generates a transformation formula and an inverse transformation formula based on parameter information.

[0139] [Transformation of linear motion devices]

[0140] When the linear motion device 4A is selected, values ​​are entered in the input fields R11 to R13, and the application button R21 is pressed, the physical quantity transformation unit 14 generates the following equations (1) and (2) based on the parameter information, as transformation and inverse transformation formulas for the linear motion device. The values ​​of the coefficients in equations (1) and (2) are based on... Figure 4 An example derived from the input example.

[0141] Y8[mm]=0.00008×X6[command unit]+0 ……Equation (1)

[0142] X6[command unit] = 12500 × Y8[mm] + 0 …… Equation (2)

[0143] Here, the method for deriving equation (1) will be explained.

[0144] First, regarding the input and output of the "amplifier and motor electronic gear", consider the following equation (3) as a linear function of X6 (input) and Y6 (output). Furthermore, a6 and b6 are coefficients.

[0145] Y6=a6×X6+b6……Equation (3)

[0146] The coefficients a6 and b6 can be obtained using the following equations (4) and (5) and based on the values ​​input to the input region R11.

[0147] a6 = (Y6H - Y6L) / (X6H - X6L) ... Equation (4)

[0148] b6=Y6H-((Y6H-Y6L) / (X6H-X6L))×X6H...Equation (5)

[0149] X6H is the maximum "command position" input to input field R111. Figure 4 In the input example, it is 10000 [command unit]. X6L is the minimum command position entered into input field R112. Figure 4 In the input example, it is 0 [command unit]. Y6H is the "maximum motor output" entered into input field R113. Figure 4 In the input example, it is 360 [deg]. Y6L is the "minimum motor output" entered into input field R114. Figure 4 The input example is 0[deg].

[0150] Next, regarding the input and output of the "reducer", consider the following equation (6) as a linear function of X7 (input) and Y7 (output). In addition, i and b7 are coefficients.

[0151] Y7=i×X7+b7……Equation (6)

[0152] The coefficient i is the gear speed ratio, obtained from the values ​​of "product of the number of teeth of the driving gear" and "product of the number of teeth of the driving gear" entered into the input fields R122 and R123. Figure 4 In the input example, the coefficient i (gear speed ratio) = 5:50 (i.e., 5 / 50). That is, coefficient i = nN / nA, where nN = the product of the number of teeth on the driving gear, and nA = the product of the number of teeth on the driven gear. Coefficient b7 is the value entered into the input field R124 for the "(reducer output) initial angle (i.e., origin angle)". Figure 4 The input example is 0[deg].

[0153] As mentioned above, since X7 = Y6 holds true, equation (3) can be expressed as X7 = a6 × X6 + b6. Substituting this equation into equation (6), we obtain the following equation (7).

[0154] Y7=i×a6×X6+(i×b6+b7)……Equation (7)

[0155] Next, regarding the input and output of the "linear motion device (here, the ball screw)," consider the following equation (8) as a linear function of X8 (input) and Y8 (output).

[0156] Y8=(p / 360)×X8+b8……Equation (8)

[0157] The coefficient p is the "lead screw" input to the input field R131. Figure 4 In the example input, it is 8 [mm]. The coefficient b8 is entered into the "(ball screw) origin position" field R131. Figure 4 The input in the example is 0[mm].

[0158] As mentioned above, since X8 = Y7 holds, equation (7) can be expressed as X8 = i × a6 × X6 + (i × b6 + b7). Substituting this equation into equation (8), we obtain the following equation (9).

[0159] Y8=(p / 360)×i×a6×X6+(p / 360)(i×b6+b7)+b8……Equation (9)

[0160] Equation (9) is equivalent to the transformation from X6 (command position) of the "amplifier and motor electronic gear" to Y8 (output) of the "linear motion device". Furthermore, if based on... Figure 4Substituting the values ​​p=8, i=5 / 50, a6=360 / 10000, b6=0, b7=0, and b8=0 obtained from the input fields of the input areas R11 to R13 shown into equation (9), we obtain the above equation (1) as a transformation formula for linear motion devices.

[0161] Furthermore, by transforming equation (9), we obtain the following equation (10).

[0162] X6=((360 / p) / (i×a6))Y8-((((i×b6+b7)+(360 / p)×b8) / (i×a6))……Equation (10)

[0163] use Figure 4 For example, if we substitute p = 8, i = 5 / 50, a6 = 360 / 10000, b6 = 0, b7 = 0, and b8 = 0 into equation (10), then the inverse transformation equation used for the linear motion device is obtained as equation (2) above. In addition, equation (1) can be directly transformed to obtain equation (2), and equation (2) can be directly transformed to obtain equation (1).

[0164] Information related to equations (9) and (10) can be stored in the storage unit 73 or directly encoded in the program. The physical quantity transformation unit 14 can use equations (9) and (10) to generate equation (1) of the transformation formula and equation (2) of the inverse transformation formula for the linear motion device based on the parameter information. The generated equations (1) and (2) can be displayed on the device detailed setting screen G1 to prompt the user. The generated equations (1) and (2) are stored in the storage unit 73 by pressing the application button R21.

[0165] [Transformation of a Circular Motion Device]

[0166] When the circular motion device 4B is selected, values ​​are entered in the input fields of input areas R11 to R13, and the application button R21 is pressed, the physical quantity transformation unit 14 generates the following equations (11) and (12) based on the parameter information, as transformation and inverse transformation equations for the circular motion device. The values ​​of the coefficients in equations (11) and (12) are based on... Figure 5 An example derived from the input example.

[0167] Y9[mm]=0.001571×X6[command unit]+0……Equation (11)

[0168] X6[command unit] = 636.6198 × Y9[mm] + 0……Equation (12)

[0169] Here, the method of deriving equation (11) will be explained.

[0170] Regarding the input and output of the "amplifier and motor electronic gear" and the input and output of the "reducer" related to the circular motion device 4B, since they are the same as those of the linear motion device 4A, the above equations (3) to (7) can be used when deriving equation (11), so the explanation here is omitted.

[0171] Regarding the input and output of the "circular motion device (here, the pulley)," consider the following equation (13) as a linear function of X9 (input) and Y9 (output).

[0172] Y9=(n×D / (2×360))×X9+b9……Equation (13)

[0173] In equation (13), "n" is pi (≒3.142). In equation (13), "D" is the "rotation diameter" entered into the input field R133. Figure 5 In the input example, it is 100 [mm]. Coefficient b9 is entered into the "(pulley) origin position" field R134. Figure 5 In the input example, it is 0 [mm]. The rotation diameter D is equivalent to the pulley diameter in the case of a pulley (or conveyor belt), the effective diameter of the pinion (driving wheel) in the case of a gear and rack, the wheel diameter of the trolley in the case of a traveling trolley, and the arm radius × 2 in the case of a rotating arm.

[0174] As mentioned above, since X9 = Y7 holds, equation (7) can be expressed as X9 = i × a6 × X6 + (i × b6 + b7). By substituting this equation into equation (13), we obtain the following equation (14).

[0175] Y9=((n×D×i×a6) / (2×360))×X6+(n×D(i×b6+b7)) / (2×360))+b9...Equation (14)

[0176] Equation (14) is equivalent to the transformation from X6 (command position) of the "amplifier and motor electronic gear" to Y9 (output) of the "circular motion device". If based on... Figure 5 Substituting the values ​​obtained from the input fields of the input areas R11 to R13 shown into equation (14), we get the above equation (11) as a transformation formula for the circular motion device.

[0177] Furthermore, if equation (14) is transformed, the following equation (15) is obtained.

[0178] X6=((2×360) / (n×D×i×a6))×Y9-(i×b6+b7) / (i×a6)-(2×360×b9) / (n×D×i×a6)……Equation (15)

[0179] use Figure 5 For example, if we substitute D = 100, i = 5 / 50, a6 = 360 / 10000, b6 = 0, b7 = 0, and b9 = 0 into equation (15), then as the inverse transformation equation for the circular motion device, we obtain the above equation (12). In addition, equation (11) can be directly transformed to obtain equation (12), and equation (12) can be directly transformed to obtain equation (11).

[0180] Information related to equations (14) and (15) can be stored in the storage unit 73 or directly encoded in the program. The physical quantity transformation unit 14 can use equations (14) and (15) to generate equation (11) of the transformation formula and equation (12) of the inverse transformation formula for the circular motion device based on the parameter information. The generated equations (11) and (12) can be displayed on the device detailed setting screen G1 to prompt the user. The generated equations (11) and (12) are stored in the storage unit 73 by pressing the application button R21.

[0181] [Transformation of the angular motion device]

[0182] When the angular motion device 4C is selected, values ​​are entered in the input fields of input areas R11 and R13, and the application button R21 is pressed, the physical quantity transformation unit 14 generates the following equations (16) and (17) based on the parameter information, as transformation and inverse transformation formulas for the angular motion device. The values ​​of the coefficients in equations (16) and (17) are based on... Figure 6 An example derived from the input example.

[0183] Y7[deg]=0.0036×X6[command unit]+0……Equation (16)

[0184] X6[command unit] = 277.7778 × Y7[deg] + 0……Equation (17)

[0185] Here, the method of deriving equation (16) will be explained.

[0186] The input and output of the "amplifier and motor electronic gear" related to the angular motion device 4C are the same as those of the linear motion device 4A and the circular motion device 4B. Furthermore, the input and output of the "angular motion device (here, a reducer)" are the same as those of the "reducer" in the linear motion device 4A and the circular motion device 4B. Therefore, when deriving equation (16), equations (3) to (7) described above can be used, and the explanation here is omitted.

[0187] In summary, regarding the input and output of the "angle motion device", as a linear function of X7 (input) and Y7 (output), consider the following equation (6)' (wherein, it is the same as the above equation (6)).

[0188] Y7=i×X7+b7……Equation (6)

[0189] The coefficient i is the gear speed ratio, obtained from the values ​​of "product of the number of teeth of the driving gear" and "product of the number of teeth of the driving gear" entered into the input fields R136 and R137. Figure 6 In the input example, the coefficient i (gear speed ratio) = 5:50 (i.e., 5 / 50). That is, coefficient i = nN / nA, where nN = the product of the number of teeth on the driving gear, and nA = the product of the number of teeth on the driven gear. Coefficient b7 is the value entered into the input field R138 for the "(reducer output) initial angle (i.e., origin angle)". Figure 6 The input example is 0[deg].

[0190] As mentioned above, since X7 = Y6 holds, equation (3) can be expressed as X7 = a6 × X6 + b6. Substituting this equation into equation (6)', we obtain the following equation (7)' (where, is the same as equation (7)).

[0191] Y7=i×a6×X6+(i×b6+b7)……Equation (7)

[0192] Equation (7)' is equivalent to the transformation from X6 (command position) of the "amplifier and motor electronic gear" to Y7 (output) of the "angle motion device". If based on... Figure 6 Substituting the values ​​obtained from the input fields of the input areas R11 and R13 shown, i = 5 / 50, a6 = 360 / 10000, b6 = 0, and b7 = 0 into equation (7), we obtain the above equation (16) as a transformation formula for the angular motion device.

[0193] Furthermore, if equation (7)' is transformed, the following equation (18) is obtained.

[0194] X6=(1 / i×a6)×Y7-(b6 / a6+b7 / (i×a6))……Equation (18)

[0195] use Figure 6 For example, if we substitute i = 5 / 50, a6 = 360 / 10000, b6 = 0, and b7 = 0 into equation (18), then the inverse transformation equation used for the angular motion device is obtained as equation (17). In addition, equation (16) can be directly transformed to obtain equation (17), and equation (17) can be directly transformed to obtain equation (16).

[0196] Information related to the above equations (7)' and (18) can be stored in the storage unit 73 or directly encoded in the program. The physical quantity transformation unit 14 can use equations (7)' and (18) to generate the transformation equation (16) and the inverse transformation equation (17) for the angle motion device based on the parameter information. The generated equations (16) and (17) can be displayed on the device detailed setting screen G1 to prompt the user. The generated equations (16) and (17) are stored in the storage unit 73 by pressing the application button R21.

[0197] The adjustment information output unit 15 uses the transformation formula or inverse transformation formula generated by the physical quantity transformation unit 14 to output adjustment information related to the drive system 2. In other words, the adjustment information output unit 15 outputs adjustment information related to the drive system 2 that applies the transformation function based on the physical quantity transformation unit 14 or the inverse transformation function based on the inverse transformation. In other words, the adjustment assistance method includes adjustment information output processing, in which adjustment information related to the drive system 2 that applies the aforementioned transformation processing or inverse transformation processing is output.

[0198] As the output destination of the adjustment information mentioned here, we envision two aspects: the user interface such as the display unit 70 and the control device 3.

[0199] For example, the communication terminal 7 (adjustment assistance system 1) can display a setting screen on the display unit 70 to accept settings for various parameters related to the test operation. These various parameters include, for example, the range of motion of the movable part, gain (position loop gain, velocity loop gain), acceleration / deceleration time constant, and offset. Here, the communication terminal 7 displays the setting screen to accept input in units such as displacement [mm] or angle [deg] regarding, for example, the range of motion of the movable part. If the user inputs displacement [mm] regarding, for example, the range of motion, the physical quantity conversion unit 14 uses the generated inverse conversion formula to inversely convert the input displacement [mm] into a command position (e.g., pulse count). The adjustment assistance system 1 stores the command position obtained from the inverse conversion in the storage unit 73. The adjustment information output unit 15 can output adjustment information containing the command position obtained from the inverse conversion to the control device 3 to instruct the execution of the test operation. In this case, the output destination of the adjustment information is the control device 3.

[0200] Furthermore, when the communication terminal 7 displays information such as the command position set for a test operation on the display unit 70 according to a user's request, displaying the information in command units such as pulse count might be difficult for the user to understand intuitively. Therefore, the physical quantity conversion unit 14 uses a generated conversion formula to convert the desired command position (command unit) into units such as displacement [mm] or angle [deg]. The adjustment information output unit 15 can output (display) adjustment information containing the displacement [mm] (or angle [deg], etc.) obtained from the conversion from the display unit 70. In this case, the output destination of the adjustment information is the display unit 70.

[0201] Thus, according to the adjustment assistance system 1 of this embodiment, since the output adjustment information applies the transformation processing or inverse transformation processing of the physical quantity transformation unit 14, the user can easily make adjustments in units of physical quantities (displacement, angle, etc.) that can change according to the operation of the motor M1. As a result, it has the advantage of improving the convenience for the user to make adjustments related to the drive system 2.

[0202] Furthermore, as described above, the adjustment assistance system 1 also includes a sensor information acquisition unit 16, a measured value conversion unit 17, and a specific information output unit 18, as shown in the reference. Figures 7-10 These functions will be explained.

[0203] Figure 7 This is a conceptual diagram of the sensor detailed setting screen G2 in the adjustment assistance system 1 according to the embodiment, which applies measured value transformation processing. The adjustment assistance system 1 includes a display unit 70 that displays... Figure 7 The sensor detailed setting screen G2 shown here has the following functions. The user uses the operation unit 72 to launch dedicated application software on the communication terminal 7 to perform operation input for detailed sensor settings, thereby enabling the sensor detailed setting screen G2 to be displayed as a window screen, for example.

[0204] [Sensor detailed settings screen]

[0205] The following will explain the sensor detailed setting screen G2, and also explain the functions of the sensor information acquisition unit 16, the measurement value conversion unit 17, and the specific information output unit 18.

[0206] As an example, let's assume that the external sensor 8, which is the target of the measurement, is a laser displacement meter 81. The laser displacement meter 81 detects the amount of movement (displacement) of the movable part in the drive device 4. However, as described above, the laser displacement meter 81 actually outputs the sensing result as an analog output value (e.g., a voltage value or a current value) to the control device 3. The AD converter 32 of the control device 3 converts this output value into a value in quantization units [LSB] (conversion value) to obtain a digital value. That is, here, let's assume that the "conversion value" is the value of the conversion unit, i.e., the quantization unit [LSB], of the AD converter 32, but it could also be a digital value.

[0207] The sensor information acquisition unit 16 acquires sensor information, which includes a first measurement value and a second measurement value related to the range of the measurement value measured by the external sensor 8 (here, a laser displacement meter 81), and a first analog output value and a second analog output value output as analog output values. The first analog output value and the second analog output value correspond to the first measurement value and the second measurement value, respectively. In other words, the adjustment assistance method includes a sensor information acquisition process, in which the aforementioned sensor information is acquired.

[0208] The sensor detailed setting screen G2 includes an input area R31, and the sensor information acquisition unit 16 acquires sensor information through the input area R31.

[0209] In this embodiment, as an example, it is assumed that the first measured value is the maximum value within the range of the measured value, and the second measured value is the minimum value within the range of the measured value. Furthermore, it is assumed that the first analog output value corresponding to the first measured value (maximum measured value) is the maximum output value output as a simulated output value, and the second analog output value corresponding to the second measured value (minimum measured value) is the minimum output value output as a simulated output value. Specifically, as... Figure 7 As shown, the input area R31 includes: an input field R311 for accepting the input of the maximum measurement value [mm] of the range of the measured value (displacement) measured by the laser displacement meter 81, and an input field R312 for accepting the input of the minimum measurement value [mm] of that range. Additionally, the input area R31 also includes: an input field R313 for accepting the input of the analog output voltage (value) [V] corresponding to the "maximum output value" of the laser displacement meter 81, and an input field R314 for accepting the input of the analog output voltage (value) [V] corresponding to the "minimum output value" of the laser displacement meter 81.

[0210] For example, regarding the "range of the measured value" mentioned above, the user appropriately determines the maximum and minimum measured values ​​based on the specifications of the external sensor 8 and the range of motion (movement range) during the test operation, and inputs these values ​​into input fields R313 and R314. Additionally, the user determines the maximum and minimum output values ​​corresponding to the maximum and minimum measured values, respectively, and inputs these values ​​into input fields R313 and R314. Furthermore, an example of the relationship between the upper and lower voltage limits of the measured values ​​for each range of the laser displacement gauge 81 is shown in Table 1 below.

[0211] [Table 1]

[0212]

[0213] In addition to sensor information, the sensor information acquisition unit 16 also acquires amplifier conversion information. In this embodiment, the sensor detailed setting screen G2 also includes an input area R32, and the sensor information acquisition unit 16 acquires amplifier conversion information through the input area R32.

[0214] Specifically, such as Figure 7 As shown, input area R32 includes input field R321 for receiving the maximum voltage value input to control device 3 (AD converter 32) and input field R322 for receiving the minimum voltage value input to control device 3. The maximum voltage value and minimum voltage value can also be the maximum current value and minimum current value. Additionally, input area R32 includes input field R323 for receiving the analog output [LSB] from control device 3 for the maximum voltage value and input field R324 for receiving the analog output [LSB] from control device 3 for the minimum voltage value. The user determines the values ​​to be input into input fields R321 to R324 based on, for example, the specifications of control device 3.

[0215] In addition, to make it easier for users to understand, the sensor detailed setting screen G2 also includes an image area R41 that schematically shows a series of processes related to the input and output from the laser displacement meter 81 to the control device 3. Figure 8 This is a conceptual diagram of another example of the sensor detailed setting screen G3 in the adjustment assistance system 1 according to the embodiment, which applies measured value transformation processing. Figure 8 In the diagram, control device 3 is labeled as amplifier, and the transformed value output from control device 3 is labeled as analog output.

[0216] At its left end, image area R41 shows the displacement [mm] (i.e., the amount of movement) "X1", which is the measured value determined by laser displacement meter 81. Depending on the type of external sensor 8, the angle [deg] can be shown at its left end instead of the displacement [mm]. At its right end, image area R41 shows the transformation value [LSB] "Y2" output from control device 3. Regarding the output "Y1" from external sensor 8 and the input "X2" to the amplifier, Y1 = X2 is essentially true.

[0217] The measurement value transformation unit 17 has a transformation function that performs a unit transformation from an analog output value or a transformed value to a measured value based on sensor information, and an inverse transformation function that performs the opposite unit transformation. In other words, the adjustment assistance method includes measurement value transformation processing, which includes a transformation process that performs a unit transformation from an analog output value or a transformed value to a measured value based on sensor information, and an inverse transformation process that performs the opposite unit transformation. Hereinafter, as an example, the transformation process that performs a unit transformation from a transformed value [LSB] to a measured value and the inverse transformation process that performs the opposite unit transformation will be described.

[0218] Additionally, the sensor detailed settings screen G2 includes an application button R51 that indicates the application (setting) of information input to input areas R31 and R32, and a cancel button R52 that cancels the input information. When the cancel button R52 is pressed, the sensor detailed settings are paused.

[0219] As an example, the measurement value transformation unit 17 generates the following equations (19) and (20) as transformation equations and inverse transformation equations, based on the amplifier transformation information in addition to the sensor information. The values ​​of the coefficients in equations (19) and (20) are based on... Figure 7 An example derived from the input example.

[0220] Y2[LSB]=13333×X1[mm]+13333…Equation (19)

[0221] X1[mm]=7.50019E-05×Y2[LSB]-1……Equation (20)

[0222] Here, the method of deriving equation (19) will be explained.

[0223] First, regarding the input and output of the "external sensor", consider the following equation (21) as a linear function of X1 (input: displacement) and Y1 (output: voltage). Furthermore, a1 and b1 are coefficients.

[0224] Y1=a1×X1+b1……Equation (21)

[0225] The coefficients a1 and b1 can be obtained using the following equations (22) and (23) based on the values ​​input to the input region R31.

[0226] a1=(Y1H-Y1L) / (X1H-X1L)……Equation (22)

[0227] b1 = Y1H - ((Y1H - Y1L) / (X1H - X1L)) × X1H ... Equation (23)

[0228] X1H is the measured maximum value entered into the input field R311. Figure 7 In the input example, it is 1 [mm]. X1L is the minimum measured value entered into the input field R312. Figure 7 In the input example, it is -1 [mm]. Y1H is the maximum output value input to input field R313. Figure 7 In the example input, it is 10[V]. Y1L is the minimum output value input to input field R314. Figure 7 The input example is 0[V].

[0229] Next, regarding the input and output of "control device 3 (amplifier)", consider the following equation (24) as a linear function of X2 (input: voltage) and Y2 (output: LSB). In addition, a2 and b2 are coefficients.

[0230] Y2=a2×X2+b2……Equation (24)

[0231] The coefficients a2 and b2 can be obtained using the following equations (25) and (26) based on the values ​​input to the input region R32.

[0232] a2=(Y2H-Y2L) / (X2H-X2L)……Equation (25)

[0233] b2=Y2H-((Y2H-Y2L) / (X2H-X2L))×X2H...Equation (26)

[0234] X2H is the maximum voltage value input to input field R321. Figure 7 In the example input, it is 10 [V]. X2L is the minimum voltage value input to input field R322. Figure 7 In the input example, it is -10[V]. Y2H is the analog output value input to input field R323. Figure 7 In the example input, it is 26666 [LSB]. Y2L is the analog output value input to input field R324. Figure 7 The input in the example is -26666[LSB].

[0235] As mentioned above, since X2 = Y1 holds true, equation (21) can be expressed as X2 = a1 × X1 + b1. Substituting this equation into equation (24), we obtain the following equation (27).

[0236] Y2=a1×a2×X1+b1×a2+b2……Equation (27)

[0237] Equation (27) is equivalent to the transformation from X1 (displacement) of the laser displacement meter 81 to Y2 (output) of the control device 3 (amplifier). If based on... Figure 7 Substituting the values ​​a1=5, b1=5, a2=2666.6 and b2=0 obtained from the input fields of the input areas R31 and R32 shown into equation (27), we get the above equation (19) as the transformation equation of the laser displacement meter 81.

[0238] In addition, if equation (27) is transformed, the following equation (28) is obtained.

[0239] X1=Y2 / (a1×a2)-(b1×a2+b2) / (a1×a2)……Equation (28)

[0240] use Figure 7 For example, if we substitute a1 = 5, b1 = 5, a2 = 2666.6, and b2 = 0 into equation (28), then as the inverse transformation equation of the laser displacement meter 81, we obtain the above equation (20). In addition, equation (19) can be directly transformed to obtain equation (20), and equation (20) can also be directly transformed to obtain equation (19).

[0241] Information related to equations (27) and (28) can be stored in the storage unit 73 or directly encoded in the program. The measurement value transformation unit 17 can use equations (27) and (28) to generate the transformation equation (19) and the inverse transformation equation (20) for the laser displacement meter 81 based on the sensor information. The generated equations (19) and (20) can be displayed on the sensor detailed setting screen G2 to prompt the user. The generated equations (19) and (20) are stored in the storage unit 73 by pressing the application button R51.

[0242] also, Figure 7 This shows an example of the sensor detailed settings screen G2 related to the laser displacement gauge 81. Figure 8 An example of a sensor detail setting screen G3 is shown, relating to an external sensor 8 other than the laser displacement gauge 81 (e.g., a speed sensor that detects the movement speed of the movable part of the drive unit 4).

[0243] Figure 8The sensor detailed setting screen G3 shown includes input areas R61 and R62 that are similar to the input areas R31 and R32 of the sensor detailed setting screen G2, respectively. However, in Figure 7 In the input area R31, the unit of measurement is displacement [mm], but... Figure 8 In the input area R61, the unit of measurement is (movement) speed [mms] -1 Input area R61 includes: input field R611 for receiving the input of the "maximum value" of the range of the moving speed measured by the speed sensor, and input field R612 for receiving the input of the "minimum value" of that range. Additionally, input area R61 also includes: input field R613 for receiving the input of the analog output voltage (value) corresponding to the "maximum output value" of the speed sensor, and input field R614 for receiving the input of the analog output voltage (value) corresponding to the "minimum output value". Input area R62 (input fields R621 to R624) has essentially the same function as input area R32 (input fields R321 to R324), therefore, its description is omitted.

[0244] To facilitate user understanding, the sensor detailed setting screen G3, like the sensor detailed setting screen G2, also includes an image area R71 in its image area R41. Image area R71 schematically illustrates a series of processes related to the input and output from the external sensor 8 to the control device 3. Figure 8 In the diagram, control device 3 is labeled as amplifier, and the transformed value is labeled as analog output. As illustratively listed at the left end of image area R71, the measured value of external sensor 8 is not limited to displacement [mm] or angle [deg], but can also be velocity [mms]. -1 (or angular velocity), acceleration [mms] -2 [or angular acceleration], force (thrust) [N], torque [N·m], etc. The application button R81 and cancel button R82 on the sensor detailed setting screen G3 have roughly the same functions as the application button R51 and cancel button R52 on the sensor detailed setting screen G2, so the description is omitted.

[0245] The specific information output unit 18 uses the transformation formula or inverse transformation formula generated by the measurement value transformation unit 17 to output specific information related to the drive system 2. In other words, the specific information output unit 18 outputs specific information related to the drive system 2 that has undergone a transformation based on the transformation function of the measurement value transformation unit 17 or an inverse transformation based on the inverse transformation function. In other words, the adjustment assistance method includes specific information output processing, in which the aforementioned specific information is output.

[0246] It is assumed that the destination of the specific information output is a user interface such as the display unit 70. However, the destination of the specific information output could also be the control device 3 (servo amplifier A1).

[0247] For example, the sensing results (analog voltage signals) obtained by external sensors 8 such as the laser displacement gauge 81 during the test operation are converted into values ​​[LSB] (conversion values) in quantized units by the AD conversion unit 32 of the control device 3, and the communication terminal 7 receives the conversion values ​​from the control device 3. If the communication terminal 7 displays information such as the sensing results obtained during the test operation on the display unit 70 according to a request from the user, it may be difficult for the user to understand intuitively if the conversion values ​​are displayed. Therefore, the measurement value conversion unit 17 uses the generated inverse conversion formula (such as the formula (20) mentioned above) to inversely convert the conversion values ​​into measurement values ​​(e.g., displacement [mm]). The specific information output unit 18 can output (display) specific information containing the inversely converted measurement values ​​from the display unit 70.

[0248] Specific information displayed from the display unit 70 can be graphically represented (see reference). Figure 10 For example, the specific information output unit 18 performs a graph display process, in which a graph related to specific information converted into units of a measured value (e.g., displacement) is generated and displayed by the display unit 70. In other words, the specific information output process of the adjustment assistance method includes a graph display process, in which a graph related to specific information that converts the simulated output value or transformation value into units of a measured value (e.g., displacement) through a measured value transformation process is generated and displayed by the display unit 70. Figure 10 This is a graph showing the transformed data based on the measured value transformation processing in the adjustment assistance system 1 according to the embodiment. For example, for evaluating the settling time, Figure 10 A waveform graph is shown, illustrating the sensing results of the laser displacement meter 81 during the test operation. The horizontal axis represents time, and the vertical axis represents the amount of movement (displacement) [mm]. That is, Figure 10 Instead of showing changes in the transformation value [LSB] and the simulated output value [V] (described later) over time, the change in the amount of movement (displacement) [mm] is shown. Figure 10 The following state is shown: as time passes, the amount of movement (displacement) decreases, and the vibration of the movable part of the drive device 4 decreases.

[0249] Thus, because the output applies specific information from the transformation or inverse transformation of the measured value, the user can easily adjust it in units of the measured value measured by the external sensor 8. As a result, the convenience for the user to make adjustments related to the drive system 2 is improved.

[0250] In particular, such as Figure 10 As shown, a waveform graph is displayed that relates to specific information converted to units of the measured values ​​determined by the external sensor 8 (e.g., units of actual displacement (movement)), so that the user can more easily and intuitively understand the specific information.

[0251] Additionally, user confirmation Figure 10 The chart shown is used to evaluate the settling time related to drive system 2. Figure 10 In this context, "P1" represents the target position, "W1" represents the set width [mm], and "T1" represents the set time. Users can use the communication terminal 7 (adjustment auxiliary system 1) to adjust various parameters and repeatedly perform test actions to achieve, for example... Figure 10 The setting time T1 is shortened.

[0252] The adjustment assistance system 1 in this embodiment has the following functions: acquiring a setpoint width W1 based on user input; performing unit transformation related to the acquired setpoint width W1; and setting the unit-transformed setpoint width W1 as an evaluation index of the drive device 4. Specifically, the adjustment assistance method further includes a setpoint width acquisition process, a setpoint width transformation process, and an index setting process. In the setpoint width acquisition process, a setpoint width W1 representing a performance index related to the stopping accuracy of the movable part of the motor M1 or the drive device 4 is acquired. In the setpoint width transformation process, the setpoint width W1 acquired by the setpoint width acquisition process is transformed into the unit of an analog output value or a transformed value. In the index setting process, the unit-transformed setpoint width W1 based on the setpoint width transformation process is set as an evaluation index of the drive device 4. In other words, the adjustment assistance system 1 also includes: a setpoint width acquisition unit 19 that performs the setpoint width acquisition process, a setpoint width transformation unit 20 that performs the setpoint width transformation process, and an index setting unit 21 that performs the index setting process (see reference 21). Figure 3B ).

[0253] Figure 9 This is a conceptual diagram of another example of the sensor detailed setting screen G4 in the adjustment assistance system 1 according to the implementation method, which applies measurement value transformation processing. Figure 9 The sensor detailed setting screen G4 is shown as another example of the sensor detailed setting screen G2. The sensor detailed setting screen G4 includes: input fields B1, B2, B3, B4, and B5; a display field B6; an apply button B11; and a cancel button B12. Input fields B1 to B4 have substantially the same functions as input fields R311 to R314 in the sensor detailed setting screen G2, therefore, their description is omitted. Furthermore, Figure 9 Input examples (numerical values) in input fields B1-B4 and Figure 7 The input examples for input fields R311 to R314 are the same.

[0254] The sensor detailed settings screen G4 does not include an input field related to amplifier conversion information (input area R32 of the sensor detailed settings screen G2), but it is assumed that the amplifier conversion information has already been set in another settings screen.

[0255] The Apply button B11 receives instructions to apply (set) the information entered into the input fields B1 to B5 and the information displayed in the display field B6. The Cancel button B12 receives instructions to cancel the entered information. When the Cancel button B12 is pressed, the detailed sensor settings are stopped.

[0256] Here, input field B5 accepts the input of the aforementioned width setting W1. Figure 9 In the example, the unit of the set width W1 of the input field B5 is [μm]. The set width acquisition unit 19 acquires the value input by the user into the input field B5 as the set width W1.

[0257] When the user enters a value in input field B5, the set width W1, which is automatically converted to the analog output value in units [V], is displayed in display field B6. Figure 9 In the example, when the user enters "50" into input field B5, the value of the transformed analog output value in units [V], "100", is automatically displayed. That is, in Figure 9 In the example, the setting width conversion unit 20 converts the setting width W1 obtained through the input field B5 into the unit of the simulated output value (in this case, voltage unit).

[0258] Here, the width conversion unit 20 generates conversion formulas and inverse conversion formulas based on the sensor information input to input fields B1-B4 and the (set) amplifier conversion information. Detailed explanations are omitted, but the conversion formulas and inverse conversion formulas related to the analog output value [V] can also be easily generated by deriving formulas similar to those for the conversion value [LSB], as described above, by deriving formulas similar to Equations 27 and 28. Figure 9 In the example, the setting width conversion unit 20 uses the generated conversion formula (from displacement, i.e., setting width, to the simulated output value) to convert 50 [μm] to 100 [V] for display. The measurement value conversion unit 17 may also have the function of the setting width conversion unit 20.

[0259] When “100” is displayed in the display bar B6, the user presses the application button B11, and the indicator setting unit 21 sets the changed setting width W1, i.e., 100[V], as the evaluation indicator and stores it in the storage unit 73.

[0260] In Figure 10When the chart shown is displayed on the display unit 70, the width adjustment conversion unit 20 uses an inverse conversion method to convert 100 [V], which is set as the evaluation index, into 50 [μm]. The specific information output unit 18 sets the width adjustment W1 to 50 [μm] to display the chart.

[0261] In short, such as Figure 7 , Figure 8 Thus, unit transformation from the transformed value [LSB] to the measured value can also be performed in reverse order, such as... Figure 9 In this way, a unit conversion can be performed from the simulated output value [V] to the measured value, and vice versa.

[0262] Thus, by incorporating the functions of the setting width acquisition unit 19, the setting width conversion unit 20, and the index setting unit 21, users can easily perform evaluations related to the setting time T1 in units of actual displacement. As a result, the convenience for users making adjustments related to the drive system 2 is improved.

[0263] (6) Variations

[0264] Hereinafter, variations of the above embodiments are listed. The variations described below can be appropriately combined and applied.

[0265] The same functions as the adjustment assistance system 1 described in the above embodiments can also be realized by adjustment assistance methods, computer programs, or non-temporary recording media containing computer programs.

[0266] The adjustment assistance system 1 of this disclosure includes a computer system. The computer system is primarily structured with a processor and memory as hardware. The processor executes a program recorded in the computer system's memory to perform the functions of the adjustment assistance system 1 of this disclosure. The program can be pre-recorded in the computer system's memory, provided via electrical communication lines, or provided via 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 consists of one or more electronic circuits comprising semiconductor integrated circuits (ICs) or large-scale integrated circuits (LSIs). The ICs or LSIs referred to here 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) programmed after LSI manufacturing, or logic devices capable of reconstructing the internal bonding relationships or circuit partitioning within an LSI, can also be used as processors. Multiple electronic circuits can be integrated into 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 here includes a microcontroller with one or more processors and one or more memories. Therefore, a microcontroller also consists of one or more electronic circuits comprising semiconductor integrated circuits or large-scale integrated circuits.

[0267] 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.

[0268] Conversely, multiple functions in the adjustment assistance system 1 can also be integrated into a single enclosure. 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 by the cloud (cloud computing), etc.

[0269] In the above embodiments, the unit of displacement is [mm], and the unit of setting width is [μm]. However, it is not limited to this; the unit of displacement can also be, for example, [m], [cm], or [μm], and the unit of setting width can also be, for example, [m], [mm], or [cm].

[0270] (Summarize)

[0271] Based on the implementation methods described above, the following methods are disclosed.

[0272] The adjustment assistance method involved in the first method is an adjustment assistance method that assists in the adjustment related to the drive system (2). The drive system (2) includes: a motor (M1), a drive device (4), a sensor (5), and a control device (3). The drive device (4) is driven by the power of the motor (M1). The sensor (5) performs sensing related to the motor (M1) or the drive device (4). The control device (3) determines the control value of the motor (M1) based on the command value and the sensing result of the sensor (5), and controls the motor (M1) so that the drive device (4) performs the given action. The adjustment assistance method includes: decision processing, parameter acquisition processing, physical quantity transformation processing, and adjustment information output processing. In the decision processing, the types of physical quantities that can change according to the action of the motor (M1) are determined. In the parameter acquisition processing, parameter information is acquired, which includes: a first value and a second value corresponding to the coordinate positions of two points that are related to the command value and are different from each other, and a first output value and a second output value of the motor (M1) corresponding to the first value and the second value, respectively. The physical quantity transformation processing includes: a transformation process that transforms the command value to a unit of the type of physical quantity determined by the decision process based on parameter information, and an inverse transformation process that performs the opposite unit transformation. In the adjustment information output processing, adjustment information related to the drive system (2) that has applied the physical quantity transformation processing or the inverse transformation processing is output.

[0273] According to the above method, since the output adjustment information applies physical quantity transformation processing or inverse transformation processing, the user can easily make adjustments in units of physical quantities that can change according to the operation of the motor (M1). As a result, the convenience for users to make adjustments related to the drive system (2) is improved.

[0274] Regarding the adjustment assistance method involved in the second method, in the first method, the first value and the second value are the maximum and minimum values ​​in the instruction value, respectively.

[0275] The above method further enhances the convenience for users to make adjustments related to the drive system (2).

[0276] In the adjustment assistance method involved in the third method, the first or second method further includes: a type acquisition process for obtaining type information specifying the type of the drive device (4). In the decision process, the type of physical quantity is determined based on the type of the drive device (4) specified by the type information.

[0277] The above method further enhances the convenience for users to make adjustments related to the drive system (2).

[0278] Regarding the adjustment assistance method involved in the fourth method, in the third method, the driving device (4) includes any one of a linear motion device (4A), a circular motion device (4B), and an angular motion device (4C).

[0279] According to the above method, when the drive device (4) is any one of a linear motion device (4A), a circular motion device (4B), or an angular motion device (4C), the convenience of the user to make adjustments related to the drive system (2) is improved.

[0280] Regarding the adjustment assistance method involved in the fifth method, in the fourth method, when the type of the drive device (4) specified by the type information is a linear motion device (4A) or a circular motion device (4B), the type of the physical quantity is determined to be displacement in the decision processing.

[0281] According to the above method, when the drive device (4) is a linear motion device (4A) or a circular motion device (4B), the user can easily make adjustments in units of displacement.

[0282] Regarding the adjustment assistance method involved in the sixth method, in the fourth or fifth method, if the type of the drive device (4) specified by the type information is an angle motion device (4C), the type of the physical quantity is determined to be angle in the decision process.

[0283] According to the above method, when the drive device (4) is an angle motion device (4C), the user can easily make adjustments in units of angle.

[0284] Regarding the adjustment assistance method involved in the seventh method, in any of the methods from the first to the sixth, the type of physical quantity is determined to be any one of displacement, angle, velocity, acceleration, angular velocity, angular acceleration, thrust, and torque during the decision-making process.

[0285] Based on the above method, users can easily make adjustments in units of displacement, angle, velocity, acceleration, angular velocity, angular acceleration, thrust, and torque.

[0286] Regarding the adjustment assistance method involved in the eighth method, in any of the first to seventh methods, the control device (3) has the following function: performing an AD conversion on the analog output value of the sensing result of an external sensor (8) that independently senses the motor (M1) or drive device (4) and is independent of the sensor (5), to obtain a converted value. The adjustment assistance method also includes: sensor information acquisition processing, measured value transformation processing, and specific information output processing. In the sensor information acquisition processing, sensor information is acquired, which includes a first measured value and a second measured value, and a first analog output value and a second analog output value output as analog output values. The first measured value and the second measured value are values ​​related to the range of the measured value measured by the external sensor (8). The first analog output value and the second analog output value correspond to the first measured value and the second measured value, respectively. The measured value transformation processing includes: a transformation processing that performs a unit transformation from the analog output value or the transformed value to the unit of the measured value based on the sensor information, and an inverse transformation processing that performs the opposite unit transformation. In specific information output processing, specific information related to the drive system (2) is output, which has been transformed or inversely transformed by the measured value transformation processing.

[0287] According to the above method, since the output applies specific information from the transformation or inverse transformation of the measured value, the user can easily adjust it in units of the measured value measured by the external sensor (8). As a result, the convenience for the user to make adjustments related to the drive system (2) is improved.

[0288] In the adjustment assistance method involved in the 9th method, the 8th method further includes: a setting width acquisition process, a setting width transformation process, and an index setting process. In the setting width acquisition process, a setting width (W1) representing a performance index related to the stopping accuracy in the movable part of the motor (M1) or drive device (4) is acquired. In the setting width transformation process, the setting width (W1) acquired by the setting width acquisition process is transformed into the unit of the simulated output value or the unit of the transformed value. In the index setting process, the setting width (W1) after unit transformation based on the setting width transformation process is set as the evaluation index of the drive device (4).

[0289] Based on the above method, users can easily make evaluations related to the tuning time. As a result, the convenience for users to make adjustments related to the drive system (2) is improved.

[0290] Regarding the adjustment assistance method involved in the 10th method, in the 8th or 9th method, the specific information output processing includes a chart display processing, in which a chart related to specific information about the unit of the simulated output value or transformation value transformed into the measured value by the measured value transformation processing is generated and displayed by the display unit (70).

[0291] According to the above method, since the charts display specific information related to the units of the measured values ​​measured by the external sensor (8), the user can more easily and intuitively understand the specific information.

[0292] Regarding the adjustment assistance method involved in Method 11, in any of Methods 8 to 10, the first measured value and the second measured value are the maximum and minimum measured values ​​in the aforementioned range, respectively. The first analog output value and the second analog output value are the maximum and minimum output values, respectively.

[0293] The above method further enhances the convenience for users to make adjustments related to the drive system (2).

[0294] The adjustment assistance method involved in Method 12 is an adjustment assistance method that assists in the adjustment related to the drive system (2). The drive system (2) includes: a motor (M1), a drive device (4), a sensor (5), and a control device (3). The drive device (4) is driven by the power of the motor (M1). The sensor (5) performs sensing related to the motor (M1) or the drive device (4). The control device (3) determines the control value of the motor (M1) based on the command value and the sensing result of the sensor (5), and controls the motor (M1) so that the drive device (4) performs the given action. The control device (3) has the following function: performing AD conversion on the sensing result of the external sensor (8) that performs sensing related to the motor (M1) or the drive device (4) independently of the sensor (5), i.e., the analog output value, to obtain the transformed value. The adjustment assistance method includes: sensor information acquisition processing, measured value transformation processing, and specific information output processing. In the sensor information acquisition process, sensor information is acquired, which includes a first measured value and a second measured value, and a first analog output value and a second analog output value output as analog output values. The first measured value and the second measured value are values ​​related to the range of the measured value measured by the external sensor (8). The first analog output value and the second analog output value correspond to the first measured value and the second measured value, respectively. The measured value transformation process includes: a transformation process that performs a unit transformation from the analog output value or the transformed value to the measured value based on the sensor information, and an inverse transformation process that performs the opposite unit transformation. In the specific information output process, specific information related to the drive system (2) that has applied the measured value transformation process or the inverse transformation process is output.

[0295] According to the above method, since the output applies specific information from the transformation or inverse transformation of the measured value, the user can easily adjust it in units of the measured value measured by the external sensor (8). As a result, the convenience for the user to make adjustments related to the drive system (2) is improved.

[0296] The program involved in method 13 is a program used to cause one or more processors to execute any of the adjustment assistance methods in methods 1 to 12.

[0297] Based on the above method, the following functions can be achieved: improving the convenience for users to make adjustments related to the drive system (2).

[0298] The adjustment assistance system (1) involved in the 14th method assists in the adjustment related to the drive system (2). The drive system (2) includes: an electric motor (M1), a drive device (4), a sensor (5), and a control device (3). The drive device (4) is driven by the power of the electric motor (M1). The sensor (5) performs sensing related to the electric motor (M1) or the drive device (4). The control device (3) determines the control value of the electric motor (M1) based on the command value and the sensing result of the sensor (5), and controls the electric motor (M1) so that the drive device (4) performs the given action. The adjustment assistance system (1) includes: a determination processing unit (13), a parameter acquisition unit (second acquisition unit 12), a physical quantity conversion unit (14), and an adjustment information output unit (15). The determination processing unit (13) determines the types of physical quantities that can change according to the action of the electric motor (M1). The parameter acquisition unit (second acquisition unit 12) acquires parameter information, which includes: a first value and a second value corresponding to the coordinate positions of two points that are different from each other and related to the command value; and a first output value and a second output value of the motor (M1) corresponding to the first value and the second value, respectively. The physical quantity transformation unit (14) has a transformation function that performs a unit transformation from the command value to the unit of the type of physical quantity determined by the determination processing unit (13) based on the parameter information, and an inverse transformation function that performs the opposite unit transformation. The adjustment information output unit (15) outputs adjustment information related to the drive system (2) that applies the transformation function based on the physical quantity transformation unit (14) or the inverse transformation function based on the inverse transformation function.

[0299] Based on the above method, an adjustment assistance system (1) can be provided to improve the convenience of users making adjustments related to the drive system (2).

[0300] The adjustment assistance system (1) involved in the 15th method assists in the adjustment related to the drive system (2). The drive system (2) includes: an electric motor (M1), a drive device (4), a sensor (5), and a control device (3). The drive device (4) is driven by the electric motor (M1). The sensor (5) performs sensing related to the electric motor (M1) or the drive device (4). The control device (3) determines the control value of the electric motor (M1) based on the command value and the sensing result of the sensor (5), and controls the electric motor (M1) so that the drive device (4) performs the given action. The control device (3) has the following function: performing AD conversion on the sensing result of the external sensor (8) that performs sensing related to the electric motor (M1) or the drive device (4) independently of the sensor (5), i.e., the analog output value, to obtain the transformed value. The adjustment assistance system (1) includes: a sensor information acquisition unit (16), a measurement value conversion unit (17), and a specific information output unit (18). The sensor information acquisition unit (16) acquires sensor information, which includes a first measured value and a second measured value, and a first analog output value and a second analog output value output as analog output values. The first measured value and the second measured value are values ​​related to the range of the measured value measured by the external sensor (8). The first analog output value and the second analog output value correspond to the first measured value and the second measured value, respectively. The measured value transformation unit (17) has a transformation function that performs unit transformation from the analog output value or the transformed value to the measured value based on the sensor information, and an inverse transformation function that performs the opposite unit transformation. The specific information output unit (18) outputs specific information related to the drive system (2) that has been transformed based on the transformation function of the measured value transformation unit (17) or inversely transformed based on the inverse transformation function.

[0301] Based on the above method, an adjustment assistance system (1) can be provided to improve the convenience of users making adjustments related to the drive system (2).

[0302] The structures involved in methods 2 to 11 are not necessary for the adjustment auxiliary method involved in method 1, and can be appropriately omitted.

[0303] Industrial availability

[0304] The adjustment assistance method, procedure, and system disclosed herein have the advantage of improving user convenience in making adjustments related to the drive system. Therefore, the adjustment assistance method, procedure, and system disclosed herein are industrially useful.

[0305] -Explanation of Figure Markers-

[0306] 1. Adjust the auxiliary system

[0307] 11. First Acquisition Department (Specialty Acquisition Department)

[0308] 12. Second Acquisition Unit (Parameter Acquisition Unit)

[0309] 13 Decision Processing Department

[0310] 14 Physical Quantity Transformation Section

[0311] 15. Adjust the information output department

[0312] 16 Sensor Information Acquisition Unit

[0313] 17 Measurement value transformation section

[0314] 18. Specific Information Output Department

[0315] 2. Drive System

[0316] 3. Control device

[0317] 4. Drive unit

[0318] 4A Linear Motion Device

[0319] 4B Circular Motion Device

[0320] 4C Angle Motion Device

[0321] 5 sensors

[0322] 70 Display Section

[0323] 8 External Sensors

[0324] M1 motor

[0325] W1 is the set width.

Claims

1. An adjustment assistance method for assisting adjustments related to a drive system, the drive system comprising: an electric motor; a drive device driven by power from the electric motor; a sensor for sensing related to the electric motor or the drive device; and a control device for determining a control value for the electric motor based on a command value and the sensing result of the sensor, and controlling the electric motor to cause the drive device to perform a given action. The adjustment assistance method includes: The decision to process determines the types of physical quantities that can change according to the operation of the motor; The parameter acquisition process acquires parameter information, which includes a first value and a second value corresponding to the coordinate positions of two points that are related to the instruction value and are different from each other, and a first output value and a second output value of the motor that correspond to the first value and the second value, respectively. The physical quantity transformation processing includes a transformation process that performs a unit transformation from the instruction value to the unit of the physical quantity of the type determined by the decision process based on the parameter information, and an inverse transformation process that performs the opposite unit transformation. and Adjust the information output processing and output the adjustment information related to the drive system that has applied the physical quantity transformation processing or the inverse transformation processing.

2. The adjustment assistance method according to claim 1, wherein, The first value and the second value are the maximum and minimum values ​​in the instruction value, respectively.

3. The adjustment assistance method according to claim 1, wherein, The adjustment assistance method further includes: a type acquisition process, which acquires type information to specify the type of the driving device. In the decision processing, the type of the physical quantity is determined based on the type of the driving device specified by the type information.

4. The adjustment assistance method according to claim 3, wherein, The driving device includes any one of a linear motion device, a circular motion device, and an angular motion device.

5. The adjustment assistance method according to claim 4, wherein, When the type of the driving device specified by the type information is the linear motion device or the circular motion device, the type of the physical quantity is determined to be displacement in the decision processing.

6. The adjustment assistance method according to claim 4, wherein, When the type of the driving device specified by the type information is the angle motion device, the type of the physical quantity is determined to be angle in the decision process.

7. The adjustment assistance method according to claim 1, wherein, In the decision process, the type of the physical quantity is determined to be any one of displacement, angle, velocity, acceleration, angular velocity, angular acceleration, thrust, and torque.

8. The adjustment assistance method according to claim 1, wherein, The control device has the following functions: performing an AD conversion on the analog output value of an external sensor that senses the motor or drive device independently of the sensor itself, and obtaining the converted value. The adjustment assistance method further includes: Sensor information acquisition and processing acquires sensor information, which includes: a first measurement value and a second measurement value related to the range of the measurement value measured by the external sensor, and a first analog output value and a second analog output value corresponding to the first measurement value and the second measurement value respectively and output as the analog output value; The measured value transformation processing includes a transformation process that performs a unit transformation from the simulated output value or the transformed value to the unit of the measured value based on the sensor information, and an inverse transformation process that performs the opposite unit transformation. and Specific information output processing outputs specific information related to the drive system that has been processed by the transformation process or the inverse transformation process of the measured value transformation.

9. The adjustment assistance method according to claim 8, wherein, The adjustment assistance method further includes: The setting width acquisition process acquires the setting width, which represents a performance index related to the stopping accuracy in the movable part of the motor or the drive device. The tuning width transformation process converts the tuning width obtained by the tuning width acquisition process into the unit of the simulated output value or the unit of the transformed value. and The index setting process sets the unit-transformed value based on the adjusted width transformation process as the evaluation index of the drive device.

10. The adjustment assistance method according to claim 8, wherein, The specific information output processing includes: chart display processing, generating a chart related to the specific information in units of the simulated output value or the transformed value converted into the measured value by the measured value transformation processing, and displaying it on the display unit.

11. The adjustment assistance method according to claim 8, wherein, The first measured value and the second measured value are the maximum and minimum measured values ​​within the range, respectively. The first analog output value and the second analog output value are the maximum output value and the minimum output value, respectively.

12. An adjustment assistance method for assisting adjustments related to a drive system, the drive system comprising: an electric motor; a drive device driven by power from the electric motor; a sensor for sensing related to the electric motor or the drive device; and a control device for determining a control value for the electric motor based on a command value and the sensing result of the sensor, and controlling the electric motor to cause the drive device to perform a given action. The control device has the following functions: performing an AD conversion on the analog output value of an external sensor that senses the motor or drive device independently of the sensor itself, and obtaining the converted value. The adjustment assistance method includes: Sensor information acquisition and processing acquires sensor information, which includes: a first measurement value and a second measurement value related to the range of the measurement value measured by the external sensor, and a first analog output value and a second analog output value corresponding to the first measurement value and the second measurement value respectively and output as the analog output value; The measured value transformation processing includes a transformation process that performs a unit transformation from the simulated output value or the transformed value to the unit of the measured value based on the sensor information, and an inverse transformation process that performs the opposite unit transformation. and Specific information output processing outputs specific information related to the drive system that has been processed by the transformation process or the inverse transformation process of the measured value transformation.

13. A program for causing one or more processors to execute the adjustment assistance method according to any one of claims 1 to 12.

14. An adjustment assistance system for assisting adjustments related to a drive system, the drive system comprising: an electric motor; a drive device driven by power from the electric motor; a sensor for sensing related to the electric motor or the drive device; and a control device for determining a control value for the electric motor based on a command value and the sensing result of the sensor, and controlling the electric motor to cause the drive device to perform a given action. The adjustment assistance system includes: The decision processing unit determines the types of physical quantities that can change according to the operation of the electric motor; The parameter acquisition unit acquires parameter information, which includes a first value and a second value corresponding to the coordinate positions of two points that are related to the instruction value and are different from each other, and a first output value and a second output value of the motor that correspond to the first value and the second value, respectively. The physical quantity transformation unit has a transformation function that performs a unit transformation from the instruction value to the unit of the type of physical quantity determined by the determination processing unit based on the parameter information, and an inverse transformation function that performs the opposite unit transformation. and The adjustment information output unit outputs adjustment information related to the drive system, which is based on the transformation function of the physical quantity transformation unit or the inverse transformation based on the inverse transformation function.

15. An adjustment assistance system for assisting adjustments related to a drive system, the drive system comprising: an electric motor; a drive device driven by power from the electric motor; a sensor for sensing related to the electric motor or the drive device; and a control device for determining a control value for the electric motor based on a command value and the sensing result of the sensor, and controlling the electric motor to cause the drive device to perform a given action. The control device has the following functions: performing an AD conversion on the analog output value of an external sensor that senses the motor or drive device independently of the sensor itself, and obtaining the converted value. The adjustment assistance system includes: The sensor information acquisition unit acquires sensor information, which includes: a first measurement value and a second measurement value related to the range of the measurement value measured by the external sensor, and a first analog output value and a second analog output value corresponding to the first measurement value and the second measurement value respectively and output as the analog output value; The measurement value transformation unit has a transformation function that performs a unit transformation from the simulated output value or the transformed value to the unit of the measurement value based on the sensor information, and an inverse transformation function that performs the opposite unit transformation. and The specific information output unit outputs specific information related to the drive system, which is transformed by the transformation function based on the measured value transformation unit or by the inverse transformation based on the inverse transformation function.

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