Management program, management device, and management method

Abstract

To provide a management program for reducing time and labor of a user relative to a series of operation for a motor amplifier.SOLUTION: A management program 210 is executed by a management device 1 for managing operation relative to a motor amplifier 2 for controlling a motor 4. This management program 210 acquires instruction information from a user to cause the motor amplifier to generate setting information 200 including an execution order of a plurality of kinds of operation to be executed in accordance with the instruction information. Further, based on the set setting information 200, the motor amplifier is made to execute operation. A GUI of the management program 210 makes a notation according to a ladder program that executes icons arranged on a screen in an order of a specific direction.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] In particular, the present invention relates to a management program executed by a management device that manages work on a motor amplifier that controls a motor, a management device, and a management method. [Background technology]

[0002] 2. Description of the Related Art Conventionally, there have been motor amplifiers that perform feedback control of the rotation of a motor that moves an object to be moved. This motor amplifier requires a series of tasks (operations) to be performed during the processes of mass production, installation, maintenance, etc. (hereinafter referred to as "manufacturing, etc.") to ensure normal operation. These operations include, for example, setting various parameters, tuning that differs for each device, and test operations to check operation, including aging operations. Among these, for example, Patent Document 1 describes a technology for automatically adjusting (autotuning) the control parameters of an electric motor control device (motor amplifier).

[0003] During manufacturing, users such as manufacturers and service personnel perform these series of tasks step by step according to the work procedures. However, these series of tasks are routine tasks that are performed in the same way depending on the model, installation environment, etc., and the same tasks are repeated every time a motor amplifier is manufactured. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-19304 Summary of the Invention [Problem to be solved by the invention]

[0005] Here, in order for a user to perform a series of routine tasks, it was necessary to launch and operate a separate dedicated application software (hereinafter simply referred to as an "app") for each individual task. This is cumbersome and time-consuming for the user.

[0006] The present invention has been made in view of the above circumstances, and aims to provide a management program that can reduce the user's workload and to solve the above-mentioned problems. [Means for solving the problem]

[0007] A management program according to one aspect of the present invention is a management program executed by a management device that manages work on a motor amplifier that controls a motor, and acquires instruction information from a user, generates setting information including an execution order for a plurality of types of work to be performed on the motor amplifier in accordance with the instruction information, and causes the motor amplifier to execute the work based on the set setting information. The work includes parameter setting, tuning, and operation check operation. When generating the setting information, it is determined whether the execution of the work is prohibited in relation to other work, and combinations that would cause damage to the motor amplifier or the object of operation are excluded. It is characterized by: This configuration can reduce the user's workload. In addition, a series of operations can be carried out safely.

[0008] A management program according to one aspect of the present invention includes: The prohibited state includes when auto-tuning is not completed, when positional interference occurs in relation to the operation object, and when communication is not possible or operation fails due to a combination. It is characterized by: By configuring in this way, it becomes possible to easily give instructions for a series of tasks.

[0009] A management program according to one aspect of the present invention is characterized in that it uses a graphical user interface to allow the user to arrange icons on a screen according to the type of work, and obtains the instruction information including properties set for the arranged icons. By configuring in this way, it is possible to reliably determine whether execution is prohibited in relation to other tasks.

[0010] In one aspect of the management program of the present invention, the graphical user interface displays the icons arranged on the screen in a manner conforming to a ladder program that executes the icons in a specific directional order. This configuration reduces the user's workload and allows the user to easily perform a series of tasks.

[0011] In the management program according to one aspect of the present invention, the icons include function icons corresponding to functions related to the work and control icons for controlling execution of other icons. The control includes conditional statements and repetitions at the same level as those that can be executed in ladder programs. It is characterized by: By configuring in this way, it becomes possible to control the execution of work.

[0012] A management device according to one aspect of the present invention is a management device that manages work on a motor amplifier that controls a motor, and includes a work setting unit that receives instruction information from a user and generates setting information including an execution order for a plurality of types of work to be performed on the motor amplifier in accordance with the instruction information, and a work execution unit that causes the motor amplifier to execute the work based on the setting information set by the work setting unit. The work includes parameter setting, tuning, and operation check operation. When generating the setting information, it is determined whether the execution of the work is prohibited in relation to other work, and combinations that would cause damage to the motor amplifier or the object of operation are excluded. It is characterized by: This configuration can reduce the user's workload. In addition, a series of operations can be carried out safely.

[0013] A management method according to one aspect of the present invention is a management method executed by a management device that manages work on a motor amplifier that controls a motor, and includes acquiring instruction information from a user, generating setting information including an execution order for a plurality of types of work to be performed on the motor amplifier in accordance with the instruction information, and causing the motor amplifier to execute the work based on the set setting information. The work includes parameter setting, tuning, and operation check operation. When generating the setting information, it is determined whether the execution of the work is prohibited in relation to other work, and combinations that would cause damage to the motor amplifier or the object of operation are excluded. It is characterized by: This configuration can reduce the user's workload. In addition, a series of operations can be carried out safely. [Effects of the Invention]

[0014] According to the present invention, a management program can be provided that obtains instruction information from a user, generates setting information including the order in which multiple types of tasks are to be performed on a motor amplifier in accordance with the instruction information, and has the motor amplifier perform the tasks based on the set setting information, thereby making it possible to perform a series of routine tasks at once and reducing the user's workload. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a system configuration diagram of a control system X according to an embodiment of the present invention. [Figure 2] 10 is a flowchart of a task mode process according to an embodiment of the present invention. [Figure 3] 4 is an example of a screen in the task mode process shown in FIG. 3. DETAILED DESCRIPTION OF THE INVENTION

[0016] <Embodiment> [Configuration of Control System X] The configuration of a control system X according to an embodiment of the present invention will be described with reference to Fig. 1. The control system X includes a management device 1, a motor amplifier 2, an encoder 3, and a motor 4.

[0017] The management device 1 is a work (management) device used by a user to perform a series of operations such as in the manufacture of the motor amplifier 2. The management device 1 is, for example, a personal computer (PC) such as a notebook, a "2-in-1" or tablet-type information device, a smartphone, a mobile phone, or other dedicated terminal used by a user such as a serviceman, a manager, or a factory employee who configures the control system X.

[0018] The management device 1 may be configured to become a management device by installing a control program including an OS (Operating System), middleware, a device driver for the motor amplifier 2, a management program 210 which is an application for managing the motor amplifier 2, and an operation application for performing each operation in the memory unit 11 and executing the control unit 10. In this embodiment, the management device 1 can also test the motor amplifier 2 instead of a host device such as a PLC (Programmable Logic Controller) that is used when the motor amplifier 2 is actually operated in an actual work process. In addition, the management device 1 can transmit the created setting information 200 to a host device such as a PLC, and drive the motor amplifier 2 by actually operating the device.

[0019] The motor amplifier 2 is connected to the encoder 3 and is a control device such as a motor amplifier (servo amplifier) ​​that feedback controls the rotation of the motor 4. The motor amplifier 2 and the management device 1 are connected via a field network such as USB (Universal Serial Bus), serial communication (RS-232C), Bluetooth (registered trademark), an IP network, or EtherCAT. On the other hand, the motor amplifier 2 and the encoder 3 are connected via a dedicated line or a serial communication line, for example, and power for servo-driving the motor 4 is also supplied. This power is supplied to the motor 4 via the encoder 3 or directly.

[0020] In this embodiment, the motor amplifier 2 can also use the current feedback value of the motor control of the motor 4 to calculate a torque value that indicates the torque of the shaft that drives the object to be operated. In addition, the motor amplifier 2 can also acquire status information such as temperature from the encoder 3 or the motor 4, etc. Furthermore, the motor amplifier 2 may be capable of responding to a data request from the management device 1 or a higher-level device such as a PLC.

[0021] The encoder 3 is a device that acquires the rotational position of the motor. In this embodiment, the encoder 3 detects position data of the rotational position of a shaft related to the rotation axis of the motor 4 and transmits it to the motor amplifier 2 as angle information.

[0022] The motor 4 is a servo motor or the like for operating an object to be operated. The motor 4 rotates a shaft, which is a rotary output shaft, in response to a control signal from the motor amplifier 2. The motor 4 includes a rotor, bearings, a stator, a bracket, and the like. In this embodiment, the objects to be operated by the motor 4 include ball screw mechanisms such as robot arms and belt mechanisms such as belt conveyors. Since the behavior of these moving objects when braking varies depending on the type of object and the surrounding environment, tuning of control parameters, test runs, and other work are required.

[0023] Next, the control configuration of the control system X, mainly the management device 1, will be described. The management device 1 includes a control unit 10, a storage unit 11, an input unit 12, and a display unit 13.

[0024] The control unit 10 is a control and calculation unit that controls each unit of the management device 1. The control unit 10 is, for example, a CPU (Central Processing Unit), an MPU (Micro Processing Unit, microcontroller), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), or the like. In this embodiment, the control unit 10 can also acquire angle information, information from various other sensors, torque values, and the like from the motor amplifier 2.

[0025] The storage unit 11 is a non-transitory recording medium such as a RAM (Random Access Memory) that holds temporary data, a ROM (Read Only Memory) that stores a control program, etc. The storage unit 11 stores the control program and various data.

[0026] The input unit 12 is a keyboard, a pointing device such as a mouse or a touchpad, a touch panel, etc. that acquires instruction information from a user. The input unit 12 acquires instruction information on a GUI (Graphical User Interface) of the application.

[0027] The display unit 13 is a liquid crystal display, an organic EL (Electro-Luminescence) display, an LED (Light Emitting Diode), etc. The display unit 13 is capable of displaying the GUI of the application.

[0028] The control unit 10 and storage unit 11 of the management device 1 may be integrally configured as a CPU with a built-in GPU or a chip-on-package. Furthermore, the input unit 12 and the display unit 13 may be integrally configured as a touch panel display.

[0029] Next, the functional configuration of the management device 1 of the control system X will be described. The control unit 10 of the management device 1 includes a task setting unit 100, a task execution unit 110, and a prohibition determination unit 120. The storage unit 11 stores setting information 200 and a management program 210 .

[0030] The task definition unit 100 acquires instruction information from the user via the input unit 12, and generates setting information 200 in accordance with the instruction information. In this embodiment, the task definition unit 100 allows the user to arrange icons corresponding to task types on a screen, for example, using a graphical user interface (hereinafter referred to as "GUI"). These icons include function icons corresponding to task-related functions and control icons that control the execution of other icons. Then, the task definition unit 100 acquires instruction information including properties set for the arranged icons. Here, the GUI according to this embodiment displays icons arranged on the screen in a specific directional order in accordance with a ladder program.

[0031] The work execution unit 110 causes the motor amplifier to execute a work based on the setting information 200 set by the work setting unit 100. The work execution unit 110 can, for example, perform a test operation of the motor amplifier 2, or transmit the setting information 200 to a higher-level device such as a PLC to execute the setting information 200.

[0032] When the job definition section 100 generates the setting information 200, the prohibition determination section 120 determines whether execution is prohibited in relation to other jobs. In this embodiment, for example, the prohibition determination unit 120 excludes combinations that are prohibited, such as performing a test operation at full speed without tuning, which may damage the motor amplifier 2 or the object to be operated.

[0033] The setting information 200 is data including the execution order of multiple types of tasks to be executed on the motor amplifier. In this embodiment, the setting information 200 is, for example, a macro language file, a batch file, various shell or high-level language files, a script file, an intermediate language file for a PLC, a binary file, etc. Specifically, the setting information 200 can be a file that sets properties in task applications for various tasks and is called. Additionally, the setting information 200 can set properties, which are setting data related to each task, and may also include data to be passed between these tasks. This data to be passed may be prepared, for example, as a dedicated "intermediate file" associated with the setting information 200. When preparing this "intermediate file," it is possible to include settings for a task application that is later (downstream) in the execution order. This setting may include, for example, a "completion flag" and "passing parameters" for each task.

[0034] Here, the control unit 10 executes a management program 210 stored in the storage unit 11 to function as a task setting unit 100, a task execution unit 110, and a prohibition determination unit 120. Additionally, each unit of the management device 1 serves as a hardware resource for executing the management program 210 and management method according to this embodiment.

[0035] [Task mode processing] Next, task mode processing by the control system X according to the embodiment of the present invention will be described with reference to FIGS. In the task mode process according to this embodiment, instruction information is acquired from a user, and setting information 200 is generated according to the instruction information, including the order in which multiple tasks are to be performed by the motor amplifier. When generating this setting information 200, it is determined whether execution is prohibited in relation to other tasks. Then, the motor amplifier is caused to perform the tasks based on the set setting information 200. In the task mode process of this embodiment, the control unit 10 mainly executes the control program stored in the storage unit 11 in cooperation with each unit, using hardware resources. The task mode process according to this embodiment will be described in detail below for each step with reference to the flowchart in FIG.

[0036] (Step S101) First, the job definition unit 100 performs a job definition process. The task setting unit 100 acquires instruction information from a user, and generates setting information 200 including the order of execution of a plurality of tasks to be executed by the motor amplifier 2 in accordance with the instruction information.

[0037] First, when the user starts the management program 210 on the management device 1, the display unit 13 displays a GUI normal setting screen (not shown). This normal setting screen displays a "MODE" switch button. When this "MODE" button is pressed in response to instruction information from the input unit 12, the work setting unit 100 switches the operation mode for executing the management program 210 to "task mode." This "task mode" is a mode for creating setting information 200 for a series of tasks.

[0038] Here, this process will be described in detail with reference to FIG. 3 shows an example of the screen in this "task mode." When the "MODE" button B1 is pressed in this "task mode," the screen switches to "normal mode," where settings are made using the normal setting screen.

[0039] An example of the work setting process in the "task mode" will be described. When the screen is switched to "Task Mode" in example screen 300, area R of the "Program Palette" is displayed in the GUI. Furthermore, to allow the user to easily indicate the order in which a series of tasks are to be performed, an "icon palette" is provided with buttons representing the icons of the functions managed by the management device 1. In this example, the "icon palette" includes a function icon palette FI in which function icons are arranged, and a control icon palette CI in which control icons are arranged. In this embodiment, the function icons are icons for calling up each task app according to a task-related function. On the other hand, the control icons are icons for controlling the execution of other icons.

[0040] At this time, the task definition section 100 prompts the user to arrange icons on the screen according to the type of task. In this example, the user drags and drops each icon from the "icon palette" onto the "program palette" using the input unit 12, arranging them to create a program.

[0041] Every time the arrangement of these icons or the setting of their properties is performed, the task setting section 100 acquires instruction information including the properties set for the arranged icons. In this embodiment, in the area R of the "program palette," tasks and controls corresponding to each icon are executed in order from left to right, similar to the so-called "ladder program" used in PLCs, etc. In other words, in this example, the "specific direction" for the execution order of tasks is from left to right. Specifically, this "program palette" may be arranged with as many icons as can be displayed on the display unit 13, in accordance with the description of the ladder program. In addition, it may be possible to arrange icons beyond the area R of this "program palette" using a scroll bar or the like.

[0042] Furthermore, after placing these icons, it is also possible to connect the processing flow from each icon with lines, as shown by the thick lines in area R. This makes it possible to control whether execution continues or not depending on the result of the processing of each icon, just like in the notation of a ladder program. Specifically, like an "IF statement," if the result of the processing of each icon is "success," the processing of the icon connected to the right is executed. On the other hand, if the result of the processing is "failure" or "wait," the processing may stop there. Additionally, in accordance with the notation of ladder programs, when icons are connected in series, the execution of each icon is required to execute the next task, just like the logical operation "AND" (logical product). Or, when icons are connected in parallel, the execution of any icon makes the next task possible, just like the logical operation "OR" (logical sum). In this way, the user can freely set the order in which the tasks are to be performed.

[0043] Here, the functional icons that can be arranged will be described in detail. In this embodiment, the functions required for each task of the control system X are arranged as applications in the function icon palette FI in association with function icons. Functions that can be associated with this function icon include, for example, "target," "communication settings," "parameters," "auto-tuning," "test operation," "waveform monitor," "point table," "I / O settings," "machine analyzer," and "encoder settings."

[0044] Of these, the "target" is a functional icon for identifying the motor amplifier 2 that will perform the task. A plurality of "targets" can be set. "Communication settings" are used to set up communication with the connected motor amplifier 2. In this "communication settings", it is possible to set the IP address and communication speed of the connected motor amplifier 2, etc.

[0045] "Parameter" is a function icon for setting control parameters of the motor amplifier 2. These control parameters may be individually configurable. Alternatively, they may be set by loading a parameter file for setting control parameters stored in the storage unit 11. Alternatively, the control parameters stored in a recording medium of the motor amplifier 2 may be read directly from the motor amplifier 2 and stored in the storage unit 11 as a parameter file. "Auto-tuning" performs automatic tuning of the motor amplifier 2. This "auto-tuning" can be performed by setting tuning conditions and automatically setting control parameters. These control parameters include, for example, gain parameters and vibration suppression filters. Furthermore, the control parameters tuned by "auto-tuning" may be applied to the motor amplifier 2.

[0046] In the "test run", operating conditions such as travel distance, speed, acceleration / deceleration time, operating time, and number of operations are set, and the motor amplifier 2 drives the motor 4 by performing a test run. The "waveform monitor" acquires various state values ​​such as the position, speed, and torque of the motor 4 while it is being driven as waveform data in the time domain. The acquired waveform data may be stored as a waveform file in the storage unit 11, or may be viewed using a viewer application.

[0047] The "Status Monitor" displays various status values ​​of the motor amplifier 2 on the GUI as numerical values ​​and graphs, etc. This also makes it possible to monitor error status. The "point table" specifies the movement of the motor 4 as a "point number" and sets the movement to each point number. At this time, the "point number" is specified using the I / O connector, which is a function set in the I / O (Input / Output) port of the motor amplifier 2, or by communication with a higher-level device, and the motor 4 is operated to the specified number.

[0048] "I / O setting" allows the user to select and set the functions to be assigned to the I / O connector. The "machine analyzer" checks the mechanical characteristics of the moving object to which the shaft of the motor 4 is connected. Specifically, it checks the resonance point and anti-resonance point and sets a vibration suppression filter.

[0049] "Encoder settings" monitors information from the encoder 3 to which the motor 4 is attached. This makes it possible to obtain error information from the encoder 3. It is also possible to cancel an error that has occurred in the encoder 3. In addition, it is also possible for the user to directly specify an app or add new functions, as in the case of the "User Defined #1" icon. Furthermore, these functions can be updated by updating the management program 210, middleware, device drivers, and the like.

[0050] Next, the control icons that can be placed will be described in detail. In this embodiment, various control icons that control the execution of function icons and the like can be placed on the control icon palette CI. This control allows for conditional statements and repetitions to the same extent as or better than those that can be executed in ladder programs. These control icons can use, for example, "FOR:", "WHILE:", "NOT:", etc.

[0051] Of these, "FOR:" is a control icon for a "FOR loop" that repeats the operation of the function icon placed on the right and connected to it. By placing this "FOR:" in area R of the "Program Palette" and double-clicking the placed control icon with input unit 12, the number of repetitions, repetition conditions, etc. can be set. Like "FOR:," "WHILE:" is a control icon for a "WHILE loop" that repeats the operation of the function icon connected to the right side by specifying a control condition. The repeat condition for this "WHILE:" can also be set by double-clicking the control icon in the input unit 12.

[0052] Additionally, logical operations can be performed using control icons. "NOT:" reverses the output of the function icon connected to the right, or executes the function icon connected to the right if the output is "fail". In addition to this, control icons such as "EXOR:" and "NAND:" can also be set in the same way.

[0053] When an icon placed in area R of the "Program Palette" is double-clicked using the input unit 12, a dialog box or another window opens and displays the properties of the icon. In these properties, the operation and setting values ​​of the task related to the icon, the behavior of the function, etc. can be set using instruction information from the input unit 12. If a prohibited value is entered in the setting of this property, a warning to that effect may be displayed.

[0054] Additionally, the task setting unit 100 may change the display of each placed icon by setting properties. For example, in the example screen 300, the display of the "target" icons placed in area R of the "program palette" is changed to "target A" and "target B," respectively, according to the identification names of the motor amplifiers 2 that will execute the tasks. Furthermore, in the case of a control palette, other icons controlled by the icon may be indicated by connecting lines other than the usual thick lines, by changing the background color, or the like. In addition, although screen example 300 shows an example in which text is displayed on each icon, each task may be represented by an icon set for each task app, or by a picture such as a figure that conceptually represents each task.

[0055] The types of function palettes arranged in the function icon palette FI and the types of control palettes arranged in the control icon palette CI may be changeable (customizable) by the user.

[0056] When the "SAVE" button B2 on the example screen 300 is pressed in response to instruction information from the input unit 12, the work setting unit 100 generates setting information 200 and stores it in the memory unit 11. This setting information 200 is based on the icons and their properties arranged in area R of the "program palette" at the time of pressing. Any number of pieces of this setting information 200 can be stored depending on the storage capacity of the memory unit 11. On the other hand, when the "LOAD" button B3 is pressed, the stored setting information 200 can be read out in accordance with the user's selection and rearranged in the area R of the "Program Palette." It is also possible to arrange multiple icon groups in the "Program Palette" area R, or display them as tabs, so that they can be used as separate programs.

[0057] (Step S102) Next, the prohibition determination unit 120 determines whether or not the prohibition state exists. In this embodiment, when the task definition section 100 generates the setting information 200, the prohibition determination section 120 determines whether execution is prohibited in relation to other tasks.

[0058] Specifically, for example, if a "test run" is performed in which the motor 4 is operated at high speed or under high load while the "auto-tuning" operation is not completed, there is a possibility that the motor 4 or the object to be operated may be damaged. For this reason, the prohibition determination unit 120 determines that the state is prohibited, in which execution is prohibited, with safety as the top priority. Alternatively, the prohibition determination unit 120 may determine that the state is prohibited, for example, when there is positional interference in relation to other objects to be operated in the "point table," or when there is a possibility that the object to be operated or the motor 4 may be significantly worn out. Alternatively, the prohibition determination unit 120 can determine that a prohibition state has occurred, for example, when communication is not possible or operation fails due to a combination of the set "target," "communication settings," and "encoder settings." In addition, the prohibition determination unit 120 determines Yes when the prohibition state occurs in various combinations.

[0059] The prohibition determination unit 120 determines "Yes" if the prohibition state is one in which execution is prohibited, and determines "No" if the prohibition state is not any other prohibition state. If the answer is Yes, the prohibition decision unit 120 advances the process to step S103. If the answer is No, the prohibition decision unit 120 advances the process to step S104.

[0060] (Step S103) If it is in a prohibited state, the prohibition determination unit 120 performs a prohibition warning process. The prohibition determination unit 120 displays a warning such as "Placement of this icon is prohibited" on the display unit 13 in a dialogue box or the like, and urges the user to make a change. Thereafter, the prohibition decision unit 120 returns the process to step S101 and continues the setting.

[0061] (Step S104) If the prohibited state is not established, the work execution unit 110 performs the work execution process. When the "RUN" button B4 on the above-mentioned example screen 300 is pressed based on instruction information from the input unit 12, the work setting unit 100 sequentially executes the work applications in accordance with the generated setting information 200, controls the motor amplifier 2, and executes a series of tasks. Alternatively, the work execution unit 110 may transmit the setting information 200 to a higher-level device such as a PLC to cause the motor amplifier 2 to execute the work. At this time, the work execution unit 110 may compile or convert the setting information 200 into a binary file that can be executed by the PLC.

[0062] Here, if there are multiple motor amplifiers 2, the work execution unit 110 causes each of the motor amplifiers 2 designated by the above-mentioned "target" to execute the work. As a result, even if a plurality of motor amplifiers 2 are connected to the motor 4, it is possible to execute a series of operations as long as each motor amplifier 2 is connected. This completes the task mode processing according to the embodiment of the present invention.

[0063] [Major Effects of the Present Embodiment] The above configuration can provide the following effects. Conventionally, driving a servo motor required a series of extremely complicated procedures, such as setting various parameters, tuning that differs for each device, and operation check runs including aging runs. Considering the manufacturing process, these series of tasks are often routine tasks in which the same tasks are repeated. However, to perform these series of tasks, users had to follow a set procedure, launching and operating individual apps provided by each manufacturer. This was cumbersome and time-consuming for users.

[0064] In contrast, the management device 1 of this embodiment is a management device that manages work on a motor amplifier 2 that controls a motor 4, and is characterized by having a work setting unit 100 that acquires instruction information from a user and generates setting information 200 including the execution order for multiple types of work to be performed on the motor amplifier in accordance with the instruction information, and a work execution unit 110 that causes the motor amplifier to perform work based on the setting information 200 set by the work setting unit 100. The management device 1 is characterized in that it executes these functions by executing a management program 210.

[0065] With this configuration, it is possible to freely set the execution order for a series of routine tasks required to drive the motor 4 and execute them all at once. In other words, it is possible to automate a series of tasks that have previously been cumbersome, thereby reducing the user's workload. Specifically, the user can significantly reduce the number of work steps and shorten the work time.

[0066] Furthermore, when an operator repeats the same work, there is a possibility that human error may occur due to incorrect operation, etc. Similarly, when an operator is changed, there is a possibility that human error may occur. In contrast, the management device 1 according to this embodiment is expected to reduce work errors and human operation errors, thereby reducing the time and effort required to stabilize the quality of the control system X, and also reducing manufacturing costs and running costs.

[0067] The management program 210 according to this embodiment is characterized in that it uses a GUI to allow the user to arrange icons on the screen according to the type of work, and obtains instruction information including properties set for the arranged icons. This configuration makes it possible to easily give instructions for a series of tasks. Furthermore, it becomes easier for the user to understand the flow of a series of tasks, improving usability.

[0068] In the management program 210 according to this embodiment, the GUI is characterized by displaying icons arranged on the screen in accordance with a ladder program that executes the icons in a specific order. This configuration allows a series of tasks to be instructed using familiar notation, such as when adjusting a servo amplifier, reducing the user's workload and allowing the user to easily carry out the series of tasks.

[0069] The management program 210 according to this embodiment is characterized in that, when generating the setting information 200, it determines whether execution is prohibited in relation to other tasks. This configuration can prevent damage to the motor amplifier 2 or the object to be operated in relation to other tasks, thereby enabling a series of tasks to be performed safely.

[0070] In the management program 210 according to this embodiment, the icons are characterized by including function icons corresponding to work-related functions and control icons that control the execution of other icons. This configuration not only allows the task app for each task to be executed, but also allows for control of execution. This allows for complex control such as FOR loops and logical operations. This makes it possible to execute tasks according to the user's environment.

[0071] Other Embodiments In the above embodiment, an example has been described in which the user places icons in the "program palette" by himself, thereby generating the setting information 200. In this regard, the provider of the management program 210 may prepare setting information 200 for various situations as "presets." Alternatively, the provider may prepare this "preset" setting information 200 for each customer. Furthermore, the created and saved setting information 200 may be provided, loaded, saved, or re-edited via a network or recording medium. This configuration can reduce the time and effort required for the user to make settings to execute a series of tasks.

[0072] In the above embodiment, an example has been described in which functional icons prepared by the management program 210 are used. However, the user may create these functional icons and task applications and place them as icons in the management program 210. Furthermore, the configuration may be such that when the setting information 200 is generated, a code for reading out the user's task application can be added. In addition, the setting information 200 may be changed according to dedicated "intermediate files" and "communication specifications." This configuration makes it possible to apply the system to a variety of environments.

[0073] In the above embodiment, an example has been described in which the operations associated with the function icons arranged in a specific direction on the GUI are executed from left to right, as in a general ladder program. However, this specific direction may be from right to left, from top to bottom, or from bottom to top. Alternatively, a GUI may be implemented in any direction depending on the connection of each icon. This configuration allows for control according to the user's preferences, more complex control, and the like.

[0074] In the above-described embodiment, an example has been described in which a series of routine operations performed in mass production in manufacturing or the like are automatically executed. However, when making adjustments at the time of installation in a factory, it is also possible to generate and execute setting information 200 for a series of detailed operations such as "auto-tuning," "waveform monitoring," "status monitoring," and "test operation." Furthermore, during troubleshooting or maintenance, it is possible to generate and execute setting information 200 for tasks such as "test operation," "waveform monitor," and "status monitor" to confirm the recurrence of trouble when it occurs.

[0075] In the above embodiment, an example in which the management device 1 and the motor amplifier 2 are configured as separate devices has been described. However, the motor amplifier 2 and the management device 1 may be configured as an integrated unit. In this case, for example, the HTTP server or dedicated management program built into the motor amplifier 2 may be accessed from another PC or the like via a network, RS-232C, or the like. This makes it possible to achieve the same functions as the management device 1 according to the above embodiment without preparing a special device.

[0076] In the above embodiment, the setting information 200 is generated for a series of operations using a GUI. However, it is also possible to generate the setting information 200 without using a GUI, for example, by using a macro or script.

[0077] It goes without saying that the configurations and operations of the above-described embodiments are merely examples, and can be modified as appropriate within the scope of the present invention. [Explanation of symbols]

[0078] 1 Management device 2 Motor amplifier 3 Encoders 4 motors 10 Control Unit 11 Storage section 12 Input section 13 Display section 100 Work setting section 110 Work Execution Department 120 Prohibition Judgment Department 200 Configuration Information 210 Management Program 300 Screen Examples B1, B2, B3, B4 buttons X Control System

Claims

1. A management program executed by a management device that manages work on a motor amplifier that controls a motor, acquires instruction information from a user, and generates setting information including an execution order for a plurality of types of work to be executed by the motor amplifier in accordance with the instruction information; causing the motor amplifier to perform the work based on the set setting information; The work includes parameter setting, tuning, and operation check operation, When generating the setting information, it is determined whether or not execution is prohibited in relation to other operations, and combinations that would cause damage to the motor amplifier or the object of operation are excluded. A management program characterized by:

2. The prohibited state includes when auto-tuning is not completed, when positional interference occurs in relation to the object of operation, and when communication is not possible or operation fails due to a combination.

2. The management program according to claim 1.

3. A graphical user interface allows the user to arrange icons corresponding to the types of work on a screen, and acquires the instruction information including properties set for the arranged icons.

3. The management program according to claim 1 or 2.

4. The graphical user interface displays the icons arranged on the screen in a manner conforming to a ladder program that executes the icons in a specific direction.

4. The management program according to claim 3.

5. The icon is a function icon corresponding to a function related to the work; a control icon for controlling the execution of the other icons; The control includes conditional statements and repetitions to the same extent as those that can be executed in ladder programs.

5. The management program according to claim 3 or 4.

6. A management device that manages work on a motor amplifier that controls a motor, a task setting unit that receives instruction information from a user and generates setting information including an execution order for a plurality of tasks to be executed by the motor amplifier in accordance with the instruction information; a task execution unit that causes the motor amplifier to execute the task based on the setting information set by the task setting unit, The work includes parameter setting, tuning, and operation check operation, When generating the setting information, it is determined whether or not execution is prohibited in relation to other operations, and combinations that would cause damage to the motor amplifier or the object of operation are excluded. A management device characterized by:

7. A management method executed by a management device that manages work on a motor amplifier that controls a motor, comprising: acquiring instruction information from a user, and generating setting information including an execution order for a plurality of types of work to be executed by the motor amplifier in accordance with the instruction information; causing the motor amplifier to perform the work based on the set setting information; The work includes parameter setting, tuning, and operation check operation, When generating the setting information, it is determined whether or not execution is prohibited in relation to other operations, and combinations that would cause damage to the motor amplifier or the object of operation are excluded. A management method characterized by:

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