Setting support device, PLC system, and program

Abstract

To reduce a burden on a user related to a trial run or tuning when a plurality of motor drivers different by manufacturers are connected to a PLC.SOLUTION: In a storage unit, setting information associated with combinations between vendor specific information and product specific information is stored with respect to motor control of each of a plurality of motor drivers. A setting support device selects one motor driver from among a plurality of motor drivers specified by the vendor specific information and the product specific information, reads setting information corresponding to a combination between the vendor specific information and the product specific information associated with the selected motor driver from the storage unit, generates an interface screen for a trial run or tuning of the motor driver on the basis of the setting information, and transmits an instruction received via the interface screen to the motor driver via a programmable logic controller and an industrial communication.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to a setting support device, a PLC system, and a program. [Background technology]

[0002] In factory automation, a programmable logic controller (PLC) is a core controller that controls industrial machinery. Most industrial machinery uses motors as its drive source to drive various loads. As described in Patent Document 1, a PLC communicates with a motor drive device (hereinafter referred to as a motor driver) and drives the motor connected to the motor driver. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-012025 Summary of the Invention [Problem to be solved by the invention]

[0004] Generally, it is recommended that the manufacturer (vendor) of a PLC and the manufacturer of a motor driver match. However, a user may own a motor driver manufactured by a different manufacturer and wish to connect it to a PLC. In this case, PLCs and multiple motor drivers manufactured by different manufacturers coexist. In order to test run or tune multiple motor drivers manufactured by different manufacturers, it was necessary to connect a dedicated setting support device for each manufacturer to the motor driver. It would be convenient for users if test runs and tuning could be performed on multiple motor drivers manufactured by different manufacturers from a common setting support device via a common user interface.

[0005] Therefore, an object of the present invention is to reduce the burden on the user regarding test runs or tuning when multiple motor drivers from different manufacturers are connected to a PLC. [Means for solving the problem]

[0006] The present invention is, for example, A programmable logic controller that functions as the main industrial communication device, a motor drive device that functions as a peripheral of the industrial communication and drives a motor based on motor control data transmitted from the main through the industrial communication; A setting support device that supports setting of a PLC system having a selection unit that selects one of a plurality of motor drive devices, each specified by vendor-specific information and product-specific information, as the motor drive device to be connected as the peripheral to the programmable logic controller that functions as the main; a storage unit that stores setting information related to motor control of each of the plurality of motor driving devices, the setting information being associated with a combination of the vendor-specific information and the product-specific information; a screen generation unit that reads out from the storage unit the setting information corresponding to a combination of the vendor-specific information and the product-specific information associated with the motor drive device selected by the selection unit, and generates an interface screen for test-running or tuning the motor drive device based on the setting information; a transmission unit that transmits an instruction received via the interface screen generated by the screen generation unit to the motor drive device via the programmable logic controller and the industrial communication; The present invention provides a setting support device having the following features. [Effects of the Invention]

[0007] According to the present invention, the burden on the user regarding test runs or tuning when a plurality of motor drivers from different manufacturers are connected to a PLC is reduced. [Brief explanation of the drawings]

[0008] [Figure 1] A diagram explaining a PLC system. [Figure 2] FIG. 2 is a diagram illustrating a setting support device. [Figure 3] FIG. 2 is a diagram illustrating a basic unit. [Figure 4] FIG. 2 is a diagram illustrating a motor driver. [Figure 5] A diagram explaining the functions of a CPU. [Figure 6] FIG. 4 is a diagram illustrating a parameter setting screen. [Figure 7] FIG. 4 is a diagram illustrating a tuning screen. [Figure 8] FIG. 10 is a diagram illustrating a real-time chart monitor screen. [Figure 9] FIG. 10 is a diagram illustrating a test run screen. [Figure 10] FIG. [Figure 11] FIG. 10 is a diagram illustrating a test run screen. [Figure 12] 10 is a flowchart showing a setting method. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, the embodiments will be described in detail with reference to the accompanying drawings. Note that the following embodiments do not limit the scope of the invention as claimed, and not all combinations of features described in the embodiments are necessarily essential to the invention. Two or more of the features described in the embodiments may be arbitrarily combined. Furthermore, the same reference numerals are used for the same or similar components, and redundant explanations will be omitted.

[0010] <PLCシステム> Fig. 1 shows an example of the configuration of a programmable logic controller system (hereinafter referred to as PLC system 1) according to an embodiment of the present invention. As shown in Fig. 1, this PLC system 1 includes a PC, which is a setting support device for editing user programs such as ladder programs, a basic unit 3, which is a PLC (programmable logic controller) for comprehensively controlling various control devices installed in a factory or the like, and multiple motor drivers 4a-4c. The multiple motor drivers 4a-4c drive motors 10a, 10b, and 10c, respectively.

[0011] The user program created by PC2, which is a setting support device, may be created using a graphical programming language such as a ladder language or a flowchart-format motion program, or may be created using a high-level programming language such as C language.

[0012] In the PLC system 1, one or more expansion units (e.g., I / O unit, analog input unit, analog output unit) are connected to the basic unit 3. The basic unit 3 may also be called a CPU unit or a main unit. The motor drivers 4a to 4c may also be called slave devices or peripherals.

[0013] The basic unit 3 has a display unit 5 and an operation unit 6. The display unit 5 can display the operating status of the motor drivers 4a to 4c, etc. The display unit 5 may switch the display content depending on the operation content of the operation unit 6. The display unit 5 usually displays the current values ​​(device values) of devices in the PLC system 1 and error information (presence or absence of alarms or warnings) that has occurred in the PLC system 1. A device is a memory area provided for storing device values ​​(device data) and may also be called a device memory. A device value is information that indicates the input status from input devices, the output status to output devices, and the status of internal relays (auxiliary relays), timers, counters, data memory, etc. set in a user program. Device values ​​are classified into bit and word types. A bit device stores a 1-bit device value. A word device stores a 1-word device value.

[0014] The motor drivers 4a to 4c are provided to extend the functions of the PLC system 1. The motors 10a to 10c are controlled by the motor drivers 4a to 4c, respectively. The motor drivers 4a to 4c supply power to the motors 10a to 10c and control the amount of rotation and the like in accordance with commands from the basic unit 3. The motors 10a to 10c are, for example, servo motors or stepping motors.

[0015] The PC2 is a computer that provides a development environment for the PLC system 1. The PC2 is, for example, a portable notebook or tablet personal computer, and is equipped with a display unit 7 and an operation unit 8. A ladder program, which is an example of a user program for controlling the PLC system 1, is created using the PC2. The created ladder program is converted into mnemonic code within the PC2. The PC2 is connected to the basic unit 3 of the PLC system 1 via a communication cable 9a such as a universal serial bus (USB) and sends the ladder program converted into mnemonic code to the basic unit 3. The basic unit 3 converts the ladder program into machine code and stores it in a memory provided in the basic unit 3. Note that, although the mnemonic code is transmitted to the basic unit 3 in this example, the present invention is not limited to this. For example, the PC2 may convert the mnemonic code into intermediate code and transmit the intermediate code to the basic unit 3.

[0016] Although not shown in FIG. 1, the operation unit 8 of the PC 2 may include a pointing device such as a mouse connected to the PC 2. The PC 2 may also be configured to be detachably connected to the basic unit 3 via a communication cable 9a other than USB. The PC 2 may also be connected to the basic unit 3 wirelessly, without using the communication cable 9a. In this case, the communication cable 9a may be understood to represent a wireless link.

[0017] The basic unit 3 and motor driver 4a are connected by a communication cable 9b, and can communicate with each other (e.g., cyclic communication, message communication) via the communication cable 9b. The motor drivers 4a and 4b are connected by a communication cable 9c, and can communicate with each other via the communication cable 9c. The motor driver 4b can communicate with the basic unit 3 via the communication cables 9b and 9c. The motor drivers 4b and 4c are connected by a communication cable 9d, and can communicate with each other via the communication cable 9d. Furthermore, the motor driver 4c can communicate with the basic unit 3 via the communication cables 9b, 9c, and 9d.

[0018] In this example, motor drivers 4a to 4b are connected, but the number of motor drivers 4 may be one or more. The manufacturers of the motor drivers 4a to 4c may be different or the same. For ease of explanation, it is assumed here that the manufacturers of the motor drivers 4a to 4c are different.

[0019] In the following, when common matters are described for the motor drivers 4a to 4c, they will be referred to as motor drivers 4. Similarly, when common matters are described for the motors 10a to 10c, they will be referred to as motors 10.

[0020] <Setting support device> FIG. 2 is a block diagram for explaining the electrical configuration of PC 2. As shown in FIG. 2, PC 2 includes a CPU 11, a display unit 7, an operation unit 8, a storage device 12, and a communication unit 13. The display unit 7, the operation unit 8, the storage device 12, and the communication unit 13 are each electrically connected to CPU 11. The storage device 12 includes RAM, ROM, HDD, and SSD, and may further include a removable memory card. CPU is an abbreviation for central processing unit. ROM is an abbreviation for read-only memory. RAM is an abbreviation for random access memory. HDD is an abbreviation for hard disk drive. SSD is an abbreviation for solid state drive.

[0021] A user of the PC 2 causes the CPU 11 to execute the setting support program 21 stored in the storage device 12, and edits project data through the operation unit 8, configures each motor driver 4, and acquires alarm information from each motor driver 4 and displays it on the display unit 7. The PC 2 may also be called an engineering tool. The project data includes one or more user programs (e.g., a ladder program) and configuration information for the basic unit 3, motor driver 4, and motor 10. The configuration information includes information indicating the connection positions of multiple motor drivers 4 relative to the basic unit 3, functions provided in the basic unit 3 (e.g., communication function and positioning function), information indicating the functions of the motor driver 4, and device allocation information. Here, editing the project data includes creating and changing (re-editing) the project data. The user reads out the project data stored in the storage device 12 as needed and changes the project data using the setting support program 21. The communication unit 13 communicates with the basic unit 3 via the communication cable 9a. The CPU 11 transfers the project data to the basic unit 3 via the communication unit 13. The communication unit 13 includes a communication circuit capable of performing communication compliant with the USB standard, a communication circuit for wired LAN communication, and a communication circuit for wireless LAN communication. The communication unit 13 may communicate with the motor driver 4 via a communication cable. The communication unit 13 transmits, for example, a parameter read or read / write request, a request to obtain alarm details, etc. to the basic unit 3. The communication protocol between the PC 2 and the basic unit 3 may be a general-purpose protocol or a proprietary protocol. The frame format includes information for the basic unit 3 to make various requests to the motor driver 4 via industrial Ethernet. The communication unit 13 is also capable of performing cyclic communication and message communication.

[0022] The basic unit 3 is called a master device. The motor driver 4 is an example of a slave device. The product database 22 includes identification information (vendor ID, product code, revision number) for identifying the slave devices connected to the basic unit 3. The vendor ID is unique identification information (vendor-specific information) of the manufacturer (vendor) that produces the slave device. The product code is unique identification information (product-specific information or product identification information) within the vendor that is assigned to distinguish between different slave devices provided by the same vendor. The revision number is identification information assigned to distinguish between revisions of the same slave device. The product database 22 may be input by a user via the operation unit 8, or may be acquired from the slave device by communicating with the slave device via the basic unit 3 and stored in the storage device 12.

[0023] Furthermore, the CPU 11 may store the product database 22 of a slave device in the storage device 12 in association with the connection position of the slave device specified through the operation unit 8. This may be managed as configuration information (other information 24) that is part of the project data.

[0024] The slave device information 23 includes various information related to the slave device (e.g., the motor driver 4). The slave device information 23 may include slave device specific information, parameter information, and alarm information. The slave device specific information may include product identification information (vendor ID, product code, revision number) registered in the product database 22, information indicating whether the device requires an explicit write operation to non-volatile memory after parameters are reflected, and information indicating how to obtain an alarm detail code. The parameter information may include a parameter list, an option list, and an operation sequence list, the details of which will be described later. The alarm information may include an alarm list, the details of which will be described later.

[0025] The parameter information (setting information) included in the slave device information 23 includes, for example, the parameter name, object index / subindex, data type, minimum value, maximum value, display type (e.g., enumeration type / decimal type), enum name (e.g., ENUM_TUNING), parameter type (mode / readable / writable parameter / read-only parameter), and control type (e.g., track bar, numeric box, drop-down list, button). The index / subindex is an index specified on the slave device side when writing or reading each parameter. In other words, the slave device determines, based on the index / subindex, whether to write a value to that parameter or which parameter to read and send to the master device. Indexes are typically present in all communication protocols, but the presence of subindexes depends on the industrial Ethernet protocol. The parameter information (setting information) may be used to provide a common user interface regardless of vendor or product. The slave device information 23 is associated with vendor-specific information and product-specific information and can be identified by combining the vendor-specific information and product-specific information.

[0026] The slave device information 23 may be provided as part of the development environment (setting support program 21), downloaded from a vendor's website, or provided via a portable recording medium.

[0027] In this way, the storage device 12 functions as an allocation information storage unit that stores slave device information 23, which is allocation information, in association with the slave device. A slave device (motor driver 4) is identified based on a vendor ID, product code, and revision number (product specification information / product identification information). Such a slave device has multiple setting parameters. The multiple setting parameters include multiple recommended adjustment parameters that are recommended to be adjusted in order to make the slave device compatible with the master device (basic unit 3) and operate it. Therefore, the slave device information 23 is information that assigns the product specification information (product identification information) of the slave device to multiple recommended adjustment parameters.

[0028] <Basic unit (master device)> FIG. 3 shows the hardware configuration of the basic unit 3. The CPU 31 writes information to and reads information from the memory 32. The memory 32 includes RAM, ROM, HDD, and SSD, and may also include a removable memory card. The project storage unit 35 is a ROM area that stores project data created and transferred by the PC 2. The project data includes user programs and configuration information. The CPU 31 also receives information input from the operation unit 6. The CPU 31 displays various information on the display unit 5.

[0029] The CPU 31 connects to the PC 2 via the communication unit 33a and to the motor driver 4 via the communication unit 33b, and communicates with them. The communication unit 33a is, for example, a USB-compatible communication circuit. The communication unit 33b is a communication circuit capable of executing communication compatible with industrial Ethernet protocols (e.g., EtherCAT, EtherNet / IP, PROFINET, MECHATROLINK-III). The communication units 33a and 33b are also capable of executing cyclic communication and message communication. The communication conversion unit 34 is a function realized by the CPU 31, and converts and relays communication signals between the PC 2 and the motor driver 4. For example, the communication conversion unit 34 converts requests from the PC 2 to the motor driver 4 so that they conform to the industrial Ethernet protocol and transmits them to the motor driver 4 on behalf of the PC 2. The communication conversion unit 34 converts responses from the motor driver 4 so that they conform to the communication protocol between the PC 2 and the basic unit 3, and forwards them to the PC 2.

[0030] <Motor driver (slave device)> 4 shows the hardware configuration of the motor driver 4. A CPU 41 writes information to a memory 42 and reads information from the memory 42. The memory 42 includes a RAM, a ROM, a HDD, and an SSD, and may further include a removable memory card. The memory 42 includes a RAM area 46 and a ROM area 47.

[0031] The CPU 41 communicates with the basic unit 3 and other motor drivers 4 via the communication unit 43. The communication unit 43 is a communication circuit capable of performing communication compatible with industrial Ethernet protocols (e.g., EtherCAT, EtherNet / IP, PROFINET, MECHATROLINK-III). The communication unit 43 is capable of performing cyclic communication and message communication. Motor control data is sent from the basic unit 3 via cyclic communication.

[0032] The input / output unit 44 includes input terminals and input circuits to which limit switches and the like are connected, and output circuits and output terminals that output information to the outside. The motor drive circuit 45 supplies power and control signals for driving the motor 10 to the motor 10. Note that the power to the motor 10 may be supplied from an external power source.

[0033] The CPU 41 has a parameter management unit 48. The parameter management unit 48 stores and manages various parameters required for controlling the motor 10 in the parameter storage area 51. The parameter management unit 48 may be secured in either one or both of the RAM area 46 and the ROM area 47.

[0034] <Functions of the CPU 11 in the PC2> FIG. 5 shows the functions realized by the CPU 11 executing the setting support program 21.

[0035] The user program editing unit 501 displays a UI for editing the user program executed in the basic unit 3 on the display unit 7, accepts editing of the user program through the UI, and creates a user program. The configuration setting unit 502 creates configuration information indicating product information and connection positions of the basic unit 3, the motor driver 4, and the motor 10 that constitute the PLC system 1. For example, the configuration setting unit 502 displays a product list on the display unit 7, and by dropping the product selected from the product list onto the UI, arranges the product at the dropped position. For example, an icon imitating the basic unit 3 is displayed on the UI, and by dropping the icon of the motor driver 4a next to the icon of the basic unit 3, configuration information indicating that the motor driver 4a is connected next to the basic unit 3 is created. Also, by dropping the icon of the motor driver 4b next to the icon of the motor driver 4a, configuration information indicating that the motor driver 4b is connected next to the motor driver 4a is created. In this way, the types and connection positions of the master device and the plurality of slave devices are specified in the configuration setting unit 502 and managed by the configuration information.

[0036] The configuration management unit 505 manages the product database 22. The device information management unit 506 manages the slave device information 23. The parameter setting unit 507 sets a plurality of parameters used to control the basic unit 3 and the motor driver 4.

[0037] The parameter setting unit 507 includes a display processing unit 511 that is responsible for displaying the user interface (UI), a reception processing unit 522 that receives user input through the UI, an editing unit 523 that is responsible for editing parameter values, a write processing unit 512 that transfers the edited parameters to the slave device and writes them, a read processing unit 513 that reads the parameters from the slave device, and a conversion unit 536 that converts the set motion parameters into a program (e.g., a program written in mnemonic or ST (structured text) language).

[0038] The display processing unit 511 reads from the storage device 12 setting information (e.g., slave device information 23) corresponding to a combination of vendor-specific information and product-specific information associated with the motor driver 4 selected by the user, and generates an interface screen for test-running or tuning the motor driver 4 based on the setting information. As a result, the interface screen will have a generally common appearance even if the motor driver 4 is from a different vendor. Similarly, the interface screen will have a generally common appearance even if the motor driver 4 is from the same vendor and the motor driver 4 is a different product (model (high-end model, standard model, low-end model)). For example, the tuning screen generation unit 521 reads from the storage device 12 setting information corresponding to a combination of vendor-specific information and product-specific information associated with the motor driver 4 selected by the user, and generates a tuning screen for tuning the motor driver 4 based on the setting information. The tuning screen may simultaneously display multiple axes to allow the user to tune each parameter. The test run screen generation unit 531 reads from the storage device 12 setting information corresponding to the combination of vendor-specific information and product-specific information associated with the motor driver 4 selected by the user, and generates a test run screen for test running the motor driver 4 based on the setting information. The RTCM unit 541 reads from the storage device 12 setting information corresponding to the combination of vendor-specific information and product-specific information associated with the motor driver 4 selected by the user, and generates a real-time chart monitor (RTCM) display screen for the motor driver 4 based on the setting information. The real-time chart monitor is called from the tuning screen or test run screen, and displays the current coordinates, speed, feedback torque, positioning control on / off, settling time, etc. The settling time is the time from when the motor driver 4 sends a positioning command to the motor 10 until the motor 10 moves to the position (coordinates) specified by the positioning command.

[0039] The reception processing unit 522 receives a selection of one of a plurality of motor drivers 4 identified by the vendor identification information and the product identification information. For example, the reception processing unit 522 includes a servo reception unit 524 that receives a designation of a servo (motor driver 4) to be tuned, a servo reception unit 534 that receives a designation of a servo (motor driver 4) to be test run, a servo switching unit 525 that receives an instruction to switch the servo (motor driver 4) to be tuned, and a test run instruction reception unit 535 that receives an instruction regarding test runs of a plurality of axes (motors 10).

[0040] The editing unit 523 can read the current values ​​of parameters currently written to the slave device through the read processing unit 513. The adjustment unit 526 generates an adjustment command according to the parameter adjustment instruction received through the reception processing unit 522, and transmits the adjustment command to the slave device to be adjusted through the write processing unit 512. In particular, the write processing unit 512 identifies the format of the command for the motor driver 4 selected as the target of the command based on the slave device information 23 corresponding to the combination of vendor-specific information and product-specific information associated with the motor driver 4, and transmits the command in the identified format (e.g., command name, parameter name, command value, mounting position and number of bits of each data, etc.). The read processing unit 513 reads current values ​​(e.g., coordinates, speed, acceleration, deceleration, jerk, etc.) from the motor driver 4 selected by the user. For example, the read processing unit 513 identifies the format of a read command for the motor driver 4 selected as the target for reading based on the slave device information 23 corresponding to the combination of vendor-specific information and product-specific information associated with that motor driver 4, creates a read command in accordance with the identified format, and transmits the command.

[0041] <Parameter setting screen> FIG. 6 shows a UI 600 that the parameter setting unit 507 displays on the display unit 7. The UI 600 may be generated to have a generally common appearance regardless of the vendor and product type (model) of the motor driver 4. The UI 600 is a user interface for setting and transferring parameters required for starting up the PLC system 1. The configuration display unit 601 shows the configuration of the PLC system 1 set through the configuration setting unit 502. The device selection unit 602 displays a list (pull-down menu) for selecting a device to be set and accepts the device selection. When a device is selected through the device selection unit 602, the configuration display unit 601 highlights the icon of the selected device. In this example, the icon of the selected device is surrounded by a dashed frame. The check box 603 is a button that is checked when transferring pre-prepared recommended parameters. The value setting unit 604 is a UI for selecting parameters to be transferred to the selected device and setting the values ​​of those parameters. The pull-down menu may also be called a drop-down list or a combo box.

[0042] The current value read button 605 is a button for reading the parameter values ​​currently set for the selected device from the selected device via the PLC system 1 and reflecting them in the value setting unit 604. The recommended value reset button 606 is a button for overwriting the value set for the parameter with the recommended value. The recommended value for each parameter is stored in advance in the storage device 12. For example, the recommended value may be part of the slave device information 23.

[0043] The transfer execution button 607 is a button for issuing an instruction to transfer the parameters selected by the value setting section 604 to the device selected by the device selection section 602. As a result, the parameters are written to the slave device.

[0044] The parameter information includes a parameter list, an option list, and an operation sequence list. The parameter list is a list of parameters that can be set for the slave device to be transferred through the parameter setting screen (UI600). The number of parameters that can be set for the slave device can be several hundred in many cases. However, the number of parameters that are generally used by many users is approximately ten to several tens. Therefore, the parameter list is narrowed down to parameters that must be set and parameters that are generally used by many users. This reduces the complexity of the parameter setting screen. For example, the parameters included in the parameter list are as follows: (a) Parameters that must be set in advance according to the recommended settings on the master device (e.g., input assignment, polarity) (b) Parameters that need to be set according to the user's mechanical configuration (load driven by the motor 10) controlled by the PLC system 1 (e.g., the rotation direction of the motor 10) (c) Parameters (e.g., mechanical stiffness, inertia ratio) that need to be adjusted (tuned) to match the user's mechanical configuration (load driven by the motor 10) controlled by the PLC system 1. Incidentally, the value can be set in the value setting unit 604 by, for example, directly inputting the value or selecting the value from a pull-down menu 610. The value may be displayed in any of binary, decimal, and hexadecimal notation.

[0045] <Tuning screen> 7, tuning screen 700 is a screen that accepts input of instructions for automatically adjusting parameters for each motor 10 or for each axis. The tuning screen 700 may also be generated to have a generally common appearance regardless of the vendor and product type (model) of the motor driver 4. However, if the configurable parameters differ for each motor driver 4, a tuning screen 700 is generated according to the configurable parameters. In other words, the types of parameters that are displayed as adjustable on tuning screen 700 and the types of controls for adjusting those parameters (e.g., slide bar, numeric box, drop-down list) are saved in slave device information 23.

[0046] The axis selection unit 720 is a UI for selecting an axis to be subjected to auto-tuning among the axes included in the PLC system 1. In this example, two axes are selected in advance, and one axis to be set via the auto-tuning setting unit 710 is selected by an axis selection button 723. An indicator 721 indicating the selected axis among the multiple axes may be provided. The axis selection unit 720 may have a display area for displaying the name of the axis, the current and maximum values ​​of the settling time, etc. The value clear button 724 is a button for clearing the current and maximum values ​​of the settling time. The current value of the settling time may be updated each time a positioning operation is performed.

[0047] In the auto-tuning setting section 710, the mode selection section 711 is a pull-down menu for selecting one of a plurality of auto-tuning modes. The reflect button 712 is a button for reflecting the auto-tuning mode selected by the mode selection section 711 in the slave device. In other words, unless the reflect button 712 is pressed, the auto-tuning mode selected by the mode selection section 711 is not reflected in the slave device.

[0048] The mechanical stiffness setting section 713 is a slide bar for setting the mechanical stiffness of the load connected to the slave device. The set value display section 714 displays the set value of the mechanical stiffness set by the mechanical stiffness setting section 713. The mechanical stiffness is immediately set for the slave device.

[0049] The inertia ratio setting section 715 includes a plus button, a minus button, and a setting value display section for setting the inertia ratio of the load of the slave device. The inertia ratio is also immediately reflected in the slave device.

[0050] The copy button 716 is a button for instructing that the settings of one axis be copied to another axis. The RTCM button 717 is a button for instructing that a real-time chart monitor for the selected axis be displayed.

[0051] <Real-time chart monitor (RTCM)> 8 shows an example of an RTCM screen 800. As an example, the stiffness is gradually increased by operating a slide bar in the mechanical stiffness setting section 713. The RTCM screen 800 may also be generated to have a generally common appearance regardless of the vendor and product type (model) of the motor driver 4.

[0052] The RTCM screen 800 displays various numerical values ​​for the axis selected on the tuning screen 700. Among the various numerical values, a plurality of numerical values ​​that are associated in advance may be grouped and displayed overlapping on a graph.

[0053] In this example, the command coordinates, which are the coordinates specified by PC2, and the current coordinates of the selected axis are displayed overlapping each other for comparison. This example shows that at a certain time, the current coordinates are deviated from the command coordinates due to low stiffness. If the stiffness were appropriate, the command coordinates and current coordinates would overlap. The command coordinates and current coordinates are displayed in different colors.

[0054] The command speed, which is the movement speed instructed by PC2, and the current speed, which is the current movement speed of the selected axis, may be displayed in a contrasting manner. Feedback torque, execution period / stop period of positioning control, settling time, etc. may also be displayed. The command speed and the current speed are displayed in different colors.

[0055] When the stiffness is set appropriately by auto-tuning, the settling time will be sufficiently short. Note that a high stiffness will be reflected in the feedback torque. The user can check whether auto-tuning was successful by checking these numerical values ​​or graphs on the RTCM screen 800. Furthermore, while fine-tuning parameters on the tuning screen 700, the user can check whether the fine-tuning is going well by looking at the RTCM screen 800.

[0056] <Test run screen> (1) Single axis test run 9 shows a test run screen 900 when a test run is performed for a single axis. The test run screen 900 may also be generated to have a generally common appearance regardless of the vendor and product type (model) of the motor driver 4. However, if the configurable parameters differ for each motor driver 4, the test run screen 900 is generated according to the configurable parameters. In other words, the types of parameters (e.g., current coordinates, command coordinates) displayed on the test run screen 900 and the types of controls for the test run (e.g., button, check box, radio button) are saved in the slave device information 23.

[0057] The test run screen 900 is displayed on the display unit 7 when multiple slave devices are test run. The operation content display area 901 is a display area that shows information about the slave device (e.g., axis) currently in operation. The button 903 is a button for displaying the UI 600 for transferring startup parameters on the display unit 7.

[0058] The trial run operation unit 902 has multiple control objects for operating the trial run of the slave device. In this example, three trial run modes (JOG operation, absolute positioning operation, and relative positioning operation) are selected using tabs. JOG operation is an operation method that continuously operates the motor driver 4 and the motor 10. Absolute positioning operation is an operation method that moves the motor driver 4 and the motor 10 to one or more coordinates specified by the user. Relative positioning operation is an operation method that moves the motor driver 4 and the motor 10 to one or more coordinates specified relatively by the user. The start button 906 is a button for instructing the start of movement to the coordinates set through the trial run operation unit 902. The deceleration stop button 907 is a button for decelerating and stopping an axis during trial run. The forced stop button 908 is a button for forcibly stopping an axis during trial run.

[0059] The program generation button 905 is a button for converting the axis operation control based on the control parameters (e.g., coordinates, direction, speed, acceleration, deceleration, jerk, wait time) specified by the trial operation operation unit 902 into a ladder program (e.g., mnemonic, ST).

[0060] 10 shows a dialog 1000 that displays a program generated by pressing the program generation button 905. The user may save the program displayed in the dialog 1000 in a copy buffer and paste it from the copy buffer onto the ladder program editing screen. In other words, the program displayed in the dialog 1000 is passed from the parameter setting unit 507 to the user program editing unit 501. This makes it easier for the user to edit the program.

[0061] (2) Test run of multiple axes FIG. 11 shows a test run screen 1100 for performing test runs on multiple axes at once. Six test run setting units 1101 are provided for performing test runs on six axes. The test run screen 1100 may also be generated to have a generally common appearance regardless of the vendor and product type (model) of the motor driver 4. However, if the configurable parameters differ for each motor driver 4, the test run screen 1100 is generated according to the configurable parameters. In other words, the types of parameters (e.g., current coordinates, command coordinates) displayed on the test run screen 1100 and the types of controls for the test run (e.g., button, check box, radio button) are stored in the slave device information 23.

[0062] The test run setting section 1101 includes a coordinate display area 1102, a JOG operation instruction section 1103, and a home position return instruction section 1104. The coordinate display area 1102 displays the name of the axis, command coordinates, etc. The JOG operation instruction section 1103 includes a button for instructing movement in the negative direction by one step, a button for instructing inching in the negative direction, a button for instructing movement in the positive direction by one step, a button for instructing inching in the positive direction, and a speed setting control. The home position return instruction section 1104 includes a start button for instructing the axis to return to subtraction, a button for stopping the axis while decelerating, and a button for forcibly stopping the axis. The details button 1106 is a button for calling up a screen that displays detailed information about the axis. The tuning button 1107 is a button for calling up the tuning screen 700.

[0063] The bottom of the test run screen 1100 may be provided with a batch servo on button 1111, a batch error clear button 1112, an RTCM button 1113, a motion monitor button 1114, a parameter transfer / read button 1115, and a batch return to origin button 1116. The batch servo on button 1111 is a button for collectively sending a servo on command to multiple axes displayed on the test run screen 1100. The batch error clear button 11132 is a button for collectively erasing error messages displayed for multiple axes displayed on the test run screen 1100. The RTCM button 1113 is a button for displaying the RTCM screen 800 for multiple axes displayed on the test run screen 1100. The motion monitor button 1114 is a button for displaying a motion monitor screen for multiple axes displayed on the test run screen 1100. The parameter transfer / read button 1115 is a button for displaying the UI 600 for parameter transfer and reading on the display unit 7. The batch return to origin button 1116 is a button for instructing batch return to origin for multiple axes displayed on the test run screen 1100.

[0064] <Flowchart> 12 shows a setting method including transfer of startup parameters, parameter tuning, and test run. The CPU 11 executes the following steps in accordance with the setting support program 21.

[0065] In S1, the CPU 11 (parameter setting unit 507) transfers start-up parameters to the motor driver 4. As explained using FIG. 6, the start-up parameters are parameters that need to be set at a minimum in order to tune and test run the motor driver 4. The user instructs the CPU 11 to send the start-up parameters to each motor driver 4 via the common UI 600. The CPU 11 (parameter setting unit 507, write processing unit 512) writes the start-up parameters to the target motor driver 4 via the communication unit 13 and basic unit 3.

[0066] In S2, the CPU 11 (parameter setting unit 507, display processing unit 511, tuning screen generation unit 521) creates the tuning screen 700 in accordance with the slave device information 23 associated with the motor driver 4 specified by the user. If there is no motor driver 4 specified by the user at this point, a default screen prepared in advance is created.

[0067] In S3, the CPU 11 (parameter setting unit 507, display processing unit 511, tuning screen generating unit 521) displays the generated tuning screen 700 on the display unit 7.

[0068] In S4, the CPU 11 (parameter setting unit 507, servo reception unit 524) accepts the selection of an axis to be tuned. For example, when an axis selection button 723 provided on the tuning screen 700 is pressed, the servo reception unit 524 displays a plurality of axes driven by the motor driver 4 connected to the basic unit 3 in a selectable manner (e.g., list display), and accepts the selection of the axis to be tuned. The CPU 11 displays an indicator 721 on the axis selection unit 720 for the axis selected by the user, indicating that the axis is being selected.

[0069] In S5, the CPU 11 (parameter setting unit 507, display processing unit 511, tuning screen generation unit 521) identifies tuning parameters (e.g., tuning mode, mechanical stiffness setting, inertia ratio) in accordance with the slave device information 23 associated with the motor driver 4 that drives the axis selected by the user, and displays the identified tuning parameters in the auto-tuning setting unit 710 on the tuning screen 700.

[0070] In S6, the CPU 11 (editing unit 523, adjustment unit 526) adjusts the tuning parameters in accordance with a user instruction. For example, the adjustment unit 526 may adjust the mechanical rigidity so as to shorten the settling time. The adjustment unit 526 may adjust the tuning parameters in accordance with the tuning mode selected by the mode selection unit 711 (e.g., adjustment at a constant speed, gradual adjustment, or high-speed adjustment). At this time, when the RTCM button 717 is pressed, the CPU 11 generates an RTCM screen 800 and displays it on the display unit 7. In the gradual adjustment mode, the response speed of the motor 10 to commands decreases and the settling time increases, but mechanical vibrations are less likely to occur. In the high-speed adjustment mode, the response speed of the motor 10 to commands increases and the settling time decreases, but mechanical vibrations are more likely to occur. Therefore, the user should select an auto-tuning mode depending on the characteristics required of the device.

[0071] In S7, the CPU 11 (trial run instruction receiving unit 535) determines whether an instruction for a trial run has been input for the axis selected by the user. If an instruction for a trial run has been input, the CPU 11 proceeds from S7 to S8. If an instruction for a trial run has not been input, the CPU 11 proceeds from S7 to S10.

[0072] In S8, the CPU 11 (trial run screen generation unit 531) displays the trial run screens 900 and 1100 in accordance with the slave device information 23 associated with the motor driver 4 that drives the axis selected by the user. If one axis is selected, the trial run screen generation unit 531 may generate the trial run screen 900. If multiple axes are selected, the trial run screen generation unit 531 may generate the trial run screen 1100.

[0073] In S9, the CPU 11 (reception processing unit 522, writing processing unit 512) executes a test run for the selected axis in accordance with the instructions input on the test run screens 900 and 1100.

[0074] In S10, the CPU 11 (servo switching unit 525) determines whether the user has instructed, which is optional, to switch the axis that is the target of test run or tuning. For example, when the axis selection button 723 is pressed to select another axis, the CPU 11 determines that an instruction to switch the target has been issued, and proceeds from S10 to S5. Thereafter, the tuning screen 700 for the newly selected axis is displayed (S5), and auto-tuning is performed (S6). If an instruction to switch the target has not been issued, the CPU 11 proceeds from S10 to S11.

[0075] In S10, the CPU 11 (reception processing unit 522) determines whether or not a tuning end instruction has been input by the user. If an end instruction has been input, the CPU 11 closes the tuning screen 700 and the test run screens 900 and 1100. If an end instruction has not been input, the CPU 11 returns from S11 to S6.

[0076] <Other> On the tuning screen 700, gains (speed gain, position gain), proportional speed P, integral control gain I, and phase control gain D may be displayed as adjustable parameters. In addition to these, other control parameters (e.g., speed integral time constant, torque command, automatic notch filter) may also be auto-tuned.

[0077] <Technical ideas derived from examples> [Point 1] The basic unit 3 is an example of a programmable logic controller (PLC) that functions as a main for industrial communication. The motor driver 4 is an example of a motor drive device that functions as a peripheral for industrial communication and drives a motor based on motor control data transmitted from the main via the industrial communication. The PC 2 is an example of a setting support device that supports settings for the PLC system 1. The CPU 11 (reception processing unit 522) may operate as a selection unit that selects one of multiple motor drive devices, each identified by vendor-specific information and product-specific information, to be connected as a peripheral to the basic unit 3 that functions as a main. The storage device 12 is an example of a storage unit that stores setting information (e.g., slave device information 23) related to motor control of each of the multiple motor drivers 4, which is associated with a combination of vendor-specific information and product-specific information. The CPU 11 and the display processing unit 511 function as a screen generation unit that reads setting information corresponding to a combination of vendor-specific information and product-specific information associated with the selected motor driver 4 from the storage device 12 and generates an interface screen for test-driving or tuning the motor driver 4 based on the setting information. The CPU 11 and the write processing unit 512 function as a transmitting unit that transmits instructions received via the generated interface screens (e.g., tuning screen 700, trial run screens 900, 1100) to the basic unit 3 and the motor driver via industrial communication.

[0078] Conventionally, it was necessary to install software prepared for each manufacturer or each motor driver 4 on the PC 2 and connect the PC 2 directly to the motor driver 4 to perform tuning and test runs. Therefore, as the number of models of motor drivers 4 increased, the number of dedicated software programs also increased, requiring users to become proficient with a large number of pieces of software. Furthermore, to simultaneously tune or test run multiple motor drivers 4, users had to input instructions from multiple UIs, each prepared for each motor driver 4, which was cumbersome. Furthermore, users had to change communication cables each time they switched between drivers to be tuned or test runs. Therefore, in an environment where various models from different vendors coexist, tuning and test runs placed a heavy burden on users. According to this embodiment, a common interface screen is provided, thereby reducing the burden on users regarding test runs or tuning when multiple motor drivers from different manufacturers are connected to a PLC.

[0079] [Point 2] The CPU 11 and the servo reception unit 524 may receive selection of one motor driver 4 and its axis to be tuned through the interface screen from among the multiple motor drivers 4 connected to the basic unit 3. The CPU 11 (tuning screen generation unit 521) may read from the storage device 12 setting information (e.g., slave device information 23) corresponding to a combination of vendor-specific information and product-specific information associated with the one motor driver 4 whose selection has been received, and generate an interface screen (e.g., tuning screen 700) for tuning the one motor driver 4 based on the setting information.

[0080] [Point 3] The interface screen may include a tuning screen 700 for tuning control parameters (e.g., mechanical stiffness, inertia ratio) of the motor driver 4. The tuning screen 700 may accept tuning of the control parameters based on the slave device information 23 corresponding to a combination of the vendor-specific information and product-specific information of the motor driver 4.

[0081] [Point 4] The tuning screen 700 may have a switching unit (e.g., axis selection button 723) that accepts an instruction to switch the motor driver 4 or its axis to be tuned among multiple motor drivers 4, and an adjustment unit (e.g., mechanical stiffness setting unit 713, inertia ratio setting unit 715) for adjusting one or more control parameters for the motor driver 4 or its axis to be tuned instructed by the switching unit.

[0082] [Point 5] The servo reception unit 524 may receive selection of one motor driver 4 or its axis to be test-run through the interface screen from among the multiple motor drivers 4 or their axes connected to the basic unit 3. The test run screen generation unit 531 of the display processing unit 511 may be configured to read from the storage device 12 setting information (slave device information 23) corresponding to a combination of vendor-specific information and product-specific information associated with the one motor driver 4 or its axis whose selection has been received, and to generate an interface screen (test run screens 900, 1100) for test-running the one motor driver 4 or its axis based on the setting information.

[0083] [Point 6] The interface screen may include test run screens 900 and 1100 that accept instructions for test run of the motor drive device. The test run screens 900 and 1100 may accept instructions regarding operation details (e.g., jog operation, inching operation, absolute positioning, assumed positioning) based on setting information (slave device information 23) that corresponds to a combination of vendor-specific information and product-specific information of the motor driver 4.

[0084] [Point 7] The test run screen 1100 may include a plurality of instruction units (e.g., a JOG operation instruction unit 1103, a return to origin instruction unit 1104) that are provided one-to-one with respect to the plurality of motor drivers 4 or their axes in order to test run the plurality of motor drivers 4 or their axes in parallel. This will make it possible to simultaneously display the status of the plurality of axes while inputting test run instructions for the plurality of axes individually.

[0085] [Point 8] The CPU 11 and the conversion unit 536 function as a conversion unit that converts the operation content specified on the test run screen 900 into a program (e.g., mnemonic) for the motor driver 4 or its axis to execute. This allows the user to easily create a program.

[0086] [Point 9] The conversion unit 536 may convert the operation details into a program written in mnemonics and copy the program to the clipboard (copy buffer), which makes it possible to paste the program onto the program editing screen.

[0087] [Point 10] As illustrated in FIG. 11, the test run may include a jog run or a return to origin.

[0088] [Point 11] According to this embodiment, there is also provided a PLC system 1 having the setting support device (PC2) described in Aspect 1 to Aspect 10. Note that Aspects 1 to 10 can be arbitrarily combined as long as there is no technical contradiction.

[0089] [Point 12] The setting support program 21 is an example of a computer program that supports the setting of the PLC system 1. The setting support program 21 is installed in a computer (e.g., PC2) and executes the following: a selection unit that selects one of a plurality of motor driving devices, each specified by vendor-specific information and product-specific information, as a motor driving device to be connected as a peripheral to the programmable logic controller that functions as a main; a storage unit that stores setting information related to motor control of each of a plurality of motor driving devices, the setting information being associated with a combination of vendor-specific information and product-specific information; a screen generation unit that reads from the storage unit setting information corresponding to a combination of vendor-specific information and product-specific information associated with the motor drive device selected by the selection unit, and generates an interface screen for test-running or tuning the motor drive device based on the setting information; a transmitting unit that transmits an instruction received via the interface screen generated by the screen generating unit to the motor driving device via the programmable logic controller and industrial communication; and make it work.

[0090] <Another variation 1> In the above-described embodiment, an example is shown in which, when the program generation button 905 shown in Fig. 9 is pressed, a program written in a mnemonic language is displayed in the dialog 1000 (Fig. 10). The present invention is not limited to this. For example, a program written in the ST language may be generated and displayed in the dialog 1000.

[0091] Furthermore, the generated program may reflect control parameters (e.g., coordinates, direction, speed, acceleration, deceleration, jerk, and waiting time) set through the test run operation unit 902. In other words, the content of the generated program may differ depending on whether the program generation button 905 is pressed before the settings of these control parameters are changed or after the control parameter settings are changed. In short, the program may be generated and displayed according to the control parameters set through the test run operation unit 902.

[0092] Note that a program created in mnemonic language may be converted from the mnemonic language into a ladder diagram (ladder block) using the functions of ladder editing software, and the converted ladder diagram (ladder block) may be inserted (pasted) into a ladder program. On the other hand, a program created in ST language may be inserted (pasted) into a ladder program as is.

[0093] <Another variation 2> In the embodiment described above, FIG. 7 illustrates that one axis set through the auto-tuning setting unit 710 is selected by the axis selection button 723. Generally, when multiple processes are controlled by a single PLC, the number of axes tends to increase. When tuning is performed on a process-by-process basis, only the axes related to that process may be selected and the tuning screen may be displayed. This allows the user to easily perform the necessary tuning. Note that when the axis selection button 723 is pressed, a separate dialog may be displayed, allowing the user to select the axis to be displayed on the tuning screen 700 according to a user operation.

[0094] The invention is not limited to the above-described embodiment, and various modifications and variations are possible within the scope of the gist of the invention.

Claims

1. A programmable logic controller that functions as the main industrial communication device, a motor drive device that functions as a peripheral of the industrial communication and drives a motor based on motor control data transmitted from the main through the industrial communication; A setting support device that supports setting of a PLC system having a selection unit that selects one of a plurality of motor drive devices, each specified by vendor-specific information and product-specific information, as the motor drive device to be connected as the peripheral to the programmable logic controller that functions as the main; a storage unit that stores setting information related to motor control of each of the plurality of motor driving devices, the setting information being associated with a combination of the vendor-specific information and the product-specific information; a screen generation unit that reads out from the storage unit the setting information corresponding to a combination of the vendor-specific information and the product-specific information associated with the motor drive device selected by the selection unit, and generates an interface screen for test-running or tuning the motor drive device based on the setting information; a transmission unit that transmits an instruction received via the interface screen generated by the screen generation unit to the motor drive device via the programmable logic controller and the industrial communication; A setting support device comprising:

2. a reception unit that receives a selection of one motor drive device to be tuned through the interface screen from among the plurality of motor drive devices connected to the programmable logic controller; the screen generation unit reads from the storage unit the setting information corresponding to a combination of the vendor-specific information and the product-specific information associated with the one motor driving device whose selection has been accepted by the acceptance unit, and generates the interface screen for tuning the one motor driving device based on the setting information.

2. The setting support device according to claim 1, wherein the setting support device is configured as follows:

3. the interface screen includes a tuning screen for tuning control parameters of the motor drive device; 3. The setting support device according to claim 2, wherein the tuning screen accepts tuning of the control parameters based on the setting information corresponding to a combination of the vendor-specific information and the product-specific information of the motor drive device.

4. The tuning screen includes: a switching unit that receives an instruction to switch a motor driving device to be tuned among the plurality of motor driving devices; an adjustment unit for adjusting one or more control parameters for the motor drive device that is the tuning target designated by the switching unit; 4. The setting support device according to claim 3, further comprising:

5. a reception unit that receives, via the interface screen, a selection of one motor drive device to be test-run from among the plurality of motor drive devices connected to the programmable logic controller; the screen generation unit reads from the storage unit the setting information corresponding to a combination of the vendor-specific information and the product-specific information associated with the one motor driving device whose selection has been accepted by the acceptance unit, and generates the interface screen for test running the one motor driving device based on the setting information.

2. The setting support device according to claim 1, wherein the setting support device is configured as follows:

6. the interface screen includes a test run screen that accepts an instruction for test run of the motor drive device, 6. The setting support device according to claim 5, wherein the test run screen accepts instructions regarding operation details based on the setting information corresponding to a combination of the vendor-specific information and the product-specific information of the motor drive device.

7. 7. The setting support device according to claim 6, wherein the test run screen includes a plurality of indicators provided one-to-one for the plurality of motor drive devices in order to test run the plurality of motor drive devices in parallel.

8. 7. The setting support device according to claim 6, further comprising a conversion unit that converts operation details specified on the test run screen into a program for causing the motor drive device to execute the operation details.

9. 9. The setting support device according to claim 8, wherein the conversion unit converts the operation content into the program written in mnemonics, and copies the program to a clipboard.

10. The setting support device according to claim 5 , wherein the test run includes a jog run or a return to origin.

11. A programmable logic controller that functions as the main industrial communication device, a motor drive device that functions as a peripheral of the industrial communication and drives a motor based on motor control data transmitted from the main through the industrial communication; A setting support device; 1. A PLC system having: The setting support device a selection unit that selects one of a plurality of motor drive devices, each specified by vendor-specific information and product-specific information, as the motor drive device to be connected as the peripheral to the programmable logic controller that functions as the main; a storage unit that stores setting information related to motor control of each of the plurality of motor driving devices, the setting information being associated with a combination of the vendor-specific information and the product-specific information; a screen generation unit that reads out from the storage unit the setting information corresponding to a combination of the vendor-specific information and the product-specific information associated with the motor drive device selected by the selection unit, and generates an interface screen for test-running or tuning the motor drive device based on the setting information; a transmission unit that transmits an instruction received via the interface screen generated by the screen generation unit to the motor drive device via the programmable logic controller and the industrial communication; A PLC system comprising:

12. A programmable logic controller that functions as the main industrial communication device, a motor drive device that functions as a peripheral of the industrial communication and drives a motor based on motor control data transmitted from the main through the industrial communication; A computer program for supporting settings for a PLC system having the following: a selection unit that selects one of a plurality of motor drive devices, each specified by vendor-specific information and product-specific information, as the motor drive device to be connected as the peripheral to the programmable logic controller that functions as the main; a storage unit that stores setting information related to motor control of each of the plurality of motor driving devices, the setting information being associated with a combination of the vendor-specific information and the product-specific information; a screen generation unit that reads out from the storage unit the setting information corresponding to a combination of the vendor-specific information and the product-specific information associated with the motor drive device selected by the selection unit, and generates an interface screen for test-running or tuning the motor drive device based on the setting information; a transmission unit that transmits an instruction received via the interface screen generated by the screen generation unit to the motor drive device via the programmable logic controller and the industrial communication; A program characterized by functioning as follows.

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