Program, data conversion device, and data conversion method

Abstract

A data management device (10) comprises: a command data acquisition unit (101) that acquires command data for controlling a drive device (30) having a main shaft and a driven shaft, the command data expressing data concerning the main shaft in a first unit; a measurement data acquisition unit (102) that acquires measurement data concerning the main shaft and the driven shaft of the drive device (30), the measurement data expressing data concerning the main shaft in a second unit; and a conversion unit (104) that converts the measurement data into post-conversion measurement data in which the data concerning the main shaft is expressed in the first unit, or that converts the command data into post-conversion command data in which the data concerning the main shaft is expressed in the second unit.

Description

Program, data conversion device, and data conversion method

[0001] The present disclosure relates to a program, a data conversion device, and a data conversion method.

[0002] BACKGROUND ART When controlling a drive device having a main shaft and a slave shaft, such as a mechanical cam or a belt conveyor, a technique is known in which command data for the control is designed on a computer and the drive device is controlled based on the command data.

[0003] For example, Patent Document 1 discloses that a machine tool is controlled by a program that determines how a slave axis is to be controlled in accordance with the rotation angle of a main axis.

[0004] Furthermore, when operating a drive device, it may be necessary to compare command data with measurement data obtained by actually measuring various sensor values ​​related to the drive device. For example, it may be necessary to understand the difference between the command data and the measurement data.

[0005] Patent Document 1 also discloses that a timing chart showing control timings determined by a program and a graph showing monitor results obtained by actual measurements can be displayed in an overlapping manner, allowing the two to be compared.

[0006] Japanese Patent Application Laid-Open No. 2015-219657

[0007] In Patent Document 1, the rotation angle of the spindle is used as the common horizontal axis for both the timing chart and the monitoring results. In other words, in Patent Document 1, both the command data and the measurement data can be compared on the common horizontal axis.

[0008] However, there are cases where comparison is not necessarily possible using a common horizontal axis. For example, there may be a case where the horizontal axis of the command data represents the rotation angle of the spindle, but the horizontal axis of the measurement data represents the elapsed time since the start of operation of the drive device, rather than the rotation angle of the spindle.

[0009] Therefore, with the technique described in Patent Document 1, it may not be possible to compare command data with measurement data.

[0010] In view of the above circumstances, an object of the present disclosure is to provide a program or the like that enables comparison between command data and measurement data.

[0011] In order to achieve the above object, the program of the present disclosure causes a computer to function as: a command data acquisition means for acquiring command data for controlling a drive device having a main shaft and a slave shaft, the command data being expressed in a first unit; a measurement data acquisition means for acquiring measurement data relating to the main shaft and the slave shaft of the drive device, the measurement data being expressed in a second unit; and a conversion means for converting the measurement data into converted measurement data in which the data relating to the main shaft is expressed in the first unit, or converting the command data into converted command data in which the data relating to the main shaft is expressed in the second unit.

[0012] According to the present disclosure, it is possible to compare command data with measurement data.

[0013] Graph showing an example of command data according to an embodiment of the present disclosure. Graph showing an example of measurement data according to an embodiment of the present disclosure. Graph showing an example of command data and converted measurement data according to an embodiment of the present disclosure. Graph showing an example of a conversion setting screen displayed by a data management device according to an embodiment of the present disclosure. Graph showing an example of a graph input screen displayed by a data management device according to an embodiment of the present disclosure. Graph showing an example of a hardware configuration of a data management device according to an embodiment of the present disclosure. Flowchart showing an example of a data conversion operation by a data management device according to an embodiment of the present disclosure. Graph showing an example of a difference between command data and converted measurement data according to a modified example of an embodiment of the present disclosure. Graph showing an example of a screen displayed by a data management device according to a modified example of an embodiment of the present disclosure, in which a selected point is highlighted on a graph. Graph showing an example of a screen displayed by a data management device according to a modified example of an embodiment of the present disclosure, in which a maximum point on a graph is highlighted.

[0014] Hereinafter, an embodiment in which a data conversion device according to the present disclosure is applied to a data management device will be described with reference to the drawings. In each drawing, the same or equivalent parts are denoted by the same reference numerals.

[0015] (Embodiment) A data management device 10 according to an embodiment will be described with reference to FIG. 1 . The data management device 10 is a device that allows a user to create command data for controlling a drive device 30 via a control device 20. The data management device 10 also acquires measurement data related to the drive device 30 and presents an image to the user for comparing the command data with the measurement data. The user modifies the command data as necessary based on the comparison results. As will be described in detail below, the data management device 10 appropriately converts one of the command data and the measurement data in order to compare the command data with the measurement data. The data management device 10 is an example of a data conversion device according to the present disclosure.

[0016] Next, the data management device 10, the control device 20, the driving device 30, the command data, the measurement data, and the data conversion will be briefly described.

[0017] The data management device 10 is communicatively connected to the control device 20. The control device 20 is electrically connected to the drive device 30. The data management device 10 transfers command data created by a user to the control device 20. The control device 20 controls the drive device 30 based on the command data created by the data management device 10. The drive device 30 includes a sensor (not shown) and outputs a signal indicating the measurement results of the sensor to the control device 20. The control device 20 transmits measurement data indicating the measurement results to the data management device 10.

[0018] The drive unit 30 is a drive unit having a main shaft and a slave shaft, such as a mechanical cam or a belt conveyor. The command data created by the data management device 10 is, for example, a combination of data indicating the rotation angle of the main shaft and data indicating the stroke change distance of the slave shaft. The rotation angle of the main shaft is, for example, measured in degrees. The stroke change distance of the slave shaft is, for example, measured in meters (m). The control device 20 controls the drive unit 30 based on this command data. The command data can be expressed as a graph, for example, as shown in FIG. 2, with the horizontal axis representing the rotation angle of the main shaft and the vertical axis representing the stroke change distance. In other words, the horizontal axis of the graph corresponds to the main shaft, and the vertical axis of the graph corresponds to the slave shaft. Because the drive unit 30 is generally controlled to perform repeated cyclical operations, the command data sufficient to operate the drive unit 30 for one cycle is sufficient. Therefore, in the following, the command data is assumed to be data for operating the drive unit 30 for one cycle. For example, when the command data is as shown in Fig. 2, the control device 20 repeatedly controls the drive device 30 to operate in accordance with the command data shown in Fig. 2. The degree in this example is an example of the first unit according to the present disclosure.

[0019] As described above, the control device 20 transmits measurement data representing the measurement results obtained by the sensor included in the drive unit 30 to the data management device 10. The measurement data is, for example, a combination of data indicating the elapsed time since the drive unit 30 started operating and data indicating the change in stroke distance of the driven axis. The elapsed time is expressed in units of, for example, seconds (s). Thus, unlike command data, the measurement data does not necessarily include data indicating the rotation angle of the main shaft. For example, if a sensor is not provided near the main shaft of the drive unit 30 and it is difficult to measure the rotation angle of the main shaft, the measurement data may be such data. When the measurement data is represented on a graph, the horizontal axis corresponding to the main shaft represents elapsed time, as shown in FIG. 3 . Thus, the command data and the measurement data are represented on a graph in different units of the horizontal axis, making direct comparison difficult. In this example, seconds are an example of a second unit according to the present disclosure.

[0020] On the other hand, some correspondence is assumed between the rotation angle of the spindle and the elapsed time since the drive unit 30 started operating. For example, if the rotation angle of the spindle changes at a constant angular velocity, it is assumed that the rotation angle is proportional to the elapsed time. On the other hand, if the angular velocity is fast in some time periods and slow in other time periods, the correspondence between the rotation angle and the elapsed time will not be as simple as a proportional relationship. For example, if the drive unit 30 is a belt conveyor, it is assumed that the angular velocity of the spindle is slowed when the workpiece on the conveyor reaches the vicinity of the worker and is fastened at other times, so a complex correspondence exists between the angular velocity and the elapsed time.

[0021] Therefore, by utilizing this correspondence, by converting one of the command data and the measurement data with respect to the spindle, the units of the horizontal axis when expressed on a graph can be made to match, and the two graphs can be displayed overlaid for comparison. For example, if it is assumed that the rotation angle of the spindle changes at a constant angular velocity, the user can input the time required for the rotation angle to change 360 ​​degrees to convert the measurement data and obtain converted measurement data with the horizontal axis in degrees. If the correspondence between the rotation angle and elapsed time is more complex, the user can input the correspondence between the rotation angle and elapsed time as a waveform, for example. An example of a graph showing the command data and the converted measurement data overlaid on one another is shown in FIG. 4. The dotted line in FIG. 4 represents the converted measurement data. The user can compare the command data and the measurement data based on the overlaid graphs and take appropriate action, such as correcting the command data or determining whether there is an abnormality in the drive unit 30, depending on the comparison results.

[0022] Note that the conversion does not simply involve converting elapsed time to rotation angle, i.e., converting only the horizontal axis corresponding to the master axis; it may also be necessary to convert the vertical axis corresponding to the slave axis. For example, consider a case where, for both command data and measurement data, the data corresponding to the vertical axis is not the change distance of the slave axis stroke but rather the rate of change related to the slave axis, such as the change speed, change acceleration, or jerk. In this case, the rate of change based on degrees, which are the units of rotation angle, differs from the rate of change based on seconds, which are the units of elapsed time. For example, in the case of rate of change based on degrees, the unit is m / degree, while the unit based on seconds is m / s. When the command data includes rate of change data related to the slave axis, the rate of change data is an example of command rate of change data according to the present disclosure. When the measurement data includes rate of change data related to the slave axis, the rate of change data is an example of measured rate of change data according to the present disclosure.

[0023] The conversion of the vertical axis using differentiation is explained as follows. If the change in stroke distance is X [m], the rotation angle is P [degrees], and the elapsed time is T [s], then the rate of change based on the rotation angle can be expressed as dX / dP [m / degree], and the rate of change based on the elapsed time can be expressed as dX / dT [m / s]. Therefore, by differentiating the composite function, dX / dP = dX / dT × dT / dP holds. Since dT / dP [s / degree] is the reciprocal of angular velocity dP / dT [degree / s], if we know the correspondence between the rotation angle and elapsed time, we can convert the rate of change dX / dT based on elapsed time to the rate of change dX / dP based on the rotation angle. The same applies to acceleration, jerk, etc.

[0024] In the above description, measurement data is converted, but command data may be converted to obtain converted command data. For example, the horizontal axis unit of the command data may be converted from degrees to seconds to obtain converted command data, and the converted command data may be compared with measurement data. For simplicity of explanation, it is assumed below that measurement data is converted and command data is not converted unless otherwise specified.

[0025] 1, the functional configuration of the data management device 10 will be described. The data management device 10 includes an operation reception unit 11, a display unit 12, a storage unit 13, a communication unit 14, and a control unit 100.

[0026] The operation acceptance unit 11 accepts operations from a user. The operation acceptance unit 11 is, for example, an input device such as a keyboard, a mouse, or a touch screen. The user can use the operation acceptance unit 11 to create command data, compare the command data with measurement data, and the like. The operation acceptance unit 11 is an example of an operation acceptance means according to the present disclosure.

[0027] The display unit 12 displays a user interface for the user to operate the data management device 10, a graph comparing command data and measurement data, etc., based on the control of the display control unit 106 (described later). The display unit 12 is, for example, a liquid crystal display. When the operation reception unit 11 is a touch screen, the touch screen may also function as the display unit 12.

[0028] The storage unit 13 stores command data created by the user and measurement data received from the control device 20 .

[0029] The communication unit 14 communicates with the control device 20. The communication unit 14 is, for example, a network interface.

[0030] The control unit 100 controls the data management device 10. The control unit 100 includes a command data acquisition unit 101, a measurement data acquisition unit 102, a conversion setting unit 103, a conversion unit 104, an image generation unit 105, and a display control unit 106.

[0031] The command data acquisition unit 101 acquires command data based on a user operation accepted by the operation acceptance unit 11. The user performs an operation to create command data, for example, via a user interface generated by the image generation unit 105 described below and displayed on the display unit 12 by the display control unit 106. The user performs an operation to create command data by inputting, for example, a graph such as that shown in FIG. 2 into the user interface. The command data acquisition unit 101 acquires data representing the graph entered by the user as command data. The command data acquisition unit 101 stores the acquired command data in the memory unit 13. Furthermore, the command data acquisition unit 101 transfers the command data to the control device 20 via the communication unit 14. The command data acquisition unit 101 is an example of a command data acquisition means according to the present disclosure.

[0032] The measurement data acquisition unit 102 acquires measurement data related to the drive unit 30 from the control device 20 via the communication unit 14. The measurement data acquisition unit 102 stores the acquired measurement data in the storage unit 13. The measurement data acquisition unit 102 is an example of a measurement data acquisition means according to the present disclosure.

[0033] The conversion setting unit 103 performs settings necessary for converting the measurement data based on user operations received by the operation receiving unit 11. For example, if the correspondence between the rotation angle and elapsed time is a simple proportional relationship, the user can perform settings necessary for converting the measurement data by inputting the length of one cycle in seconds into input field C on the screen shown in FIG. 5 and pressing set button B to set the length. The conversion setting unit 103 performs settings necessary for conversion by outputting the input time to the conversion unit 104 as information necessary for converting the measurement data. If the correspondence between the rotation angle and elapsed time is more complex, the user can input the correspondence between the rotation angle and elapsed time, for example, in the form of a graph, and the conversion setting unit 103 outputs the information shown in the graph to the conversion unit 104. The screen shown in FIG. 5 is generated by an image generation unit 105 (described later), and the generated image is displayed on the display unit 12 by a display control unit 106.

[0034] The conversion unit 104 converts the measurement data stored in the memory unit 13 based on the information output by the conversion setting unit 103 to generate converted measurement data. The conversion unit 104 converts the measurement data by converting the unit of the horizontal axis corresponding to the major axis from seconds to degrees. In other words, the conversion unit 104 converts data related to the major axis among the measurement data. As described above, in this conversion, data corresponding to the vertical axis is also converted as needed. For example, if the data corresponding to the vertical axis is speed, acceleration, jerk, etc., the data corresponding to the vertical axis is also converted. Since the minor axis corresponds to the vertical axis, the conversion unit 104 also converts data related to the minor axis among the measurement data as needed. The conversion unit 104 is an example of a conversion means according to the present disclosure.

[0035] The image generation unit 105 generates images to be displayed on the display unit 12, such as an image representing command data, an image representing measurement data, and an image of a user interface. In particular, the image generation unit 105 generates an image in which a graph representing the command data stored in the memory unit 13 is superimposed on a graph representing the converted measurement data converted by the conversion unit 104. By displaying this image on the display unit 12, the user can compare the command data and the measurement data on a horizontal axis in the same unit. The image generation unit 105 is an example of an image generation means according to the present disclosure.

[0036] The display control unit 106 controls the display unit 12 to display the image generated by the image generation unit 105 on the display unit 12. This allows the user to view a user interface screen for creating command data, a user interface screen for conversion settings, and screens related to command data and conversion data.

[0037] As mentioned above, although the description has been given assuming that the measurement data is converted but the command data is not, it is also possible to convert the command data but not the measurement data. In this case, the conversion unit 104 converts the command data into converted command data without converting the measurement data, and the image generation unit 105 generates an image in which a graph representing the converted command data and a graph representing the measurement data are superimposed.

[0038] Here, a user interface displayed on the display unit 12 and used by the user when inputting a graph will be described. The user interface is, for example, a graph input screen as shown in FIG. 6. The user can input a graph by setting parameters in the input fields shown in the lower part of FIG. 6. The user divides the graph into multiple sections and, for each section, sets the stroke at the end point and the type of curve for that section. For example, in FIG. 6, the user divides the graph into four sections and sets the type of curve for each section to quintic curve, cycloid, sine curve, and straight line. Once the user sets the parameters, a graph is displayed in the upper part of FIG. 6.

[0039] 6, the stroke may be set as a percentage instead of an absolute value in meters as a unit. For example, it may be set as a percentage of the maximum stroke of the drive unit 30.

[0040] Also, although only the stroke graph is displayed in FIG. 6, when the user sets parameters, not only the stroke but also the speed, acceleration, jerk, etc. may be displayed superimposed thereon.

[0041] Next, an example of the hardware configuration of the data management device 10 will be described with reference to Fig. 7. The data management device 10 shown in Fig. 7 is realized by a computer such as a personal computer or a microcontroller.

[0042] The data management device 10 includes a processor 1001 , a memory 1002 , an interface 1003 , and a secondary storage device 1004 , which are connected to each other via a bus 1000 .

[0043] The processor 1001 is, for example, a CPU (Central Processing Unit). The processor 1001 loads an operating program stored in the secondary storage device 1004 into the memory 1002 and executes the program, thereby realizing each function of the data management device 10.

[0044] The memory 1002 is a main storage device configured, for example, by a RAM (Random Access Memory). The memory 1002 stores the operating program that the processor 1001 reads from the secondary storage device 1004. The memory 1002 also functions as a working memory when the processor 1001 executes the operating program.

[0045] The interface 1003 is an I / O (Input / Output) interface such as a serial port, a USB (Universal Serial Bus) port, a network interface, etc. The interface 1003 realizes the function of the communication unit 14. Furthermore, by connecting an input device to the interface 1003, the function of the operation reception unit 11 is realized, and by connecting a display to the interface 1003, the function of the display unit 12 is realized.

[0046] The secondary storage device 1004 is, for example, a flash memory, a hard disk drive (HDD), or a solid state drive (SSD). The secondary storage device 1004 stores the operating programs executed by the processor 1001. The secondary storage device 1004 realizes the function of the storage unit 13.

[0047] Next, an example of the data conversion operation by the data management device 10 will be described with reference to Fig. 8. The operation shown in Fig. 8 is started, for example, when the user performs an operation to display the screen shown in Fig. 5 for measurement data conversion.

[0048] The image generating unit 105 of the control unit 100 of the data management device 10 generates an image for displaying the conversion setting screen shown in Fig. 5, and the display control unit 106 of the control unit 100 causes the generated image to be displayed on the display unit 12 (step S101). This allows the user to perform operations via the screen shown in Fig. 5.

[0049] The conversion setting unit 103 of the control unit 100 waits for the user to input the length of one cycle (step S102). When the user inputs the length of one cycle, the conversion setting unit 103 outputs information indicating the input length of one cycle to the conversion unit 104 of the control unit 100 (step S103).

[0050] The converter 104 converts the data on the major axis of the measurement data based on the information indicating the length of one cycle output in step S103 (step S104). As described above, this converts the data on the horizontal axis corresponding to the major axis. This allows the measurement data whose horizontal axis is in seconds to be converted into data whose horizontal axis is in degrees.

[0051] If necessary, the conversion unit 104 also converts the data related to the slave axis among the measurement data based on the information indicating the length of one cycle output in step S103 (step S105). As described above, if the data related to the slave axis is, for example, data related to the rate of change of distance change, such as speed, acceleration, or jerk, it is necessary to convert the units of the data related to the slave axis as well. This makes it possible to convert, for example, measurement data whose vertical axis units are m / s into data whose vertical axis units are m / degree, as described above.

[0052] The image generation unit 105 generates an image in which a graph representing the command data stored in the memory unit 13 is superimposed on a graph representing the converted measurement data, which is the measurement data converted in steps S104 and S105 (step S106).

[0053] The display control unit 106 causes the image generated in step S106 to be displayed on the display unit 12 (step S107), and the control unit 100 then ends the data conversion operation.

[0054] The above has described the data management device 10 according to an embodiment. According to the data management device 10, even if the units of the data related to the spindle are different between the command data and the measurement data, by converting one of the measurement data and the command data so that the units of the data related to the spindle are the same, the command data and the measurement data can be compared.

[0055] (Variant) In the embodiment, the image generation unit 105 of the control unit 100 of the data management device 10 generates an image in which a graph representing command data is superimposed on a graph representing converted measurement data, or an image in which a graph representing converted command data is superimposed on a graph representing measurement data.

[0056] Alternatively, or in addition to this, the image generation unit 105 may generate an image of a graph showing the difference between the command data and the converted measurement data, or an image of a graph showing the difference between the converted command data and the measurement data. For example, the image generation unit 105 generates an image of a graph as shown in FIG. 9. This graph plots, at each point on the horizontal axis, the value of the command data on the vertical axis minus the value of the converted measurement data on the vertical axis. The display control unit 106 displays this image on the display unit 12, allowing the user to visually and easily confirm the difference between the command data and the converted measurement data, or the difference between the converted command data and the measurement data.

[0057] As a variation of the embodiment, the user may be allowed to select any point on the graph on a screen displaying an image of two overlapping graphs. For example, the operation accepting unit 11 may accept an operation to select any point on the graph, and the image generating unit 105 may generate an image in which the selected point is highlighted.

[0058] For example, when a user selects a point on a graph on a user interface screen such as that shown in Fig. 10, the selected point may be highlighted with a white circle and an arrow pointing to the circle, and the coordinates of the selected point may also be displayed. This screen is shown to the user by the display control unit 106 causing the display unit 12 to display an image generated by the image generation unit 105 when the user performs a point selection operation.

[0059] Here, for the convenience of the user, even if the user does not select a point on the graph accurately but selects a point off the graph, if the selected point is within a certain distance from the graph, the point on the graph that is closest to the selected point may be regarded as the point selected by the user and highlighted.

[0060] As a variation of the embodiment, an image of two graphs superimposed on each other may highlight important points on each graph, such as local maximums, minimums, and inflection points. For example, the image generation unit 105 may analyze the command data and the converted measurement data to identify important points and generate an image highlighting the identified important points. Because the conversion allows the two graphs to be overlaid and directly compared, a user can analyze the extent to which the positions of important points, such as local maximums, minimums, and inflection points, differ between the command data and the converted measurement data. This can only be achieved by converting the horizontal axes to be the same. For example, the image generation unit 105 generates the image shown in FIG. 11 , and the display control unit 106 displays it on the display unit 12. In FIG. 11 , only the local maximums are highlighted, but other important points may also be highlighted.

[0061] In the embodiment, the user creates the command data on the data management device 10, but the command data may be created on another device. For example, the command data acquisition unit 101 of the data management device 10 may acquire the command data created on the other device via communication.

[0062] 7, the data management device 10 includes a secondary storage device 1004. However, the present invention is not limited to this, and the secondary storage device 1004 may be provided outside the data management device 10, and the data management device 10 and the secondary storage device 1004 may be connected via an interface 1003. In this configuration, removable media such as a USB flash drive or a memory card can also be used as the secondary storage device 1004.

[0063] 7, the data management device 10 may be configured with a dedicated circuit using an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), etc. In the hardware configuration shown in FIG. 7, some of the functions of the data management device 10 may be realized by a dedicated circuit connected to the interface 1003, for example.

[0064] The programs used in the data management device 10 can be stored and distributed on computer-readable recording media such as CD-ROMs (Compact Disc Read Only Memory), DVDs (Digital Versatile Discs), USB flash drives, memory cards, HDDs, etc. By installing such programs on a specific or general-purpose computer, the computer can function as the data management device 10.

[0065] Furthermore, the above-mentioned program may be stored in a storage device owned by another server on the Internet, and the program may be downloaded from that server.

[0066] The present disclosure allows various embodiments and modifications without departing from the broad spirit and scope of the present disclosure. Furthermore, the above-described embodiments are intended to explain the present disclosure and do not limit the scope of the present disclosure. In other words, the scope of the present disclosure is defined by the claims, not the embodiments. Various modifications made within the scope of the claims and the meaning of equivalent disclosures are considered to be within the scope of the present disclosure.

[0067] 10 Data management device, 11 Operation reception unit, 12 Display unit, 13 Memory unit, 14 Communication unit, 20 Control device, 30 Drive device, 100 Control unit, 101 Command data acquisition unit, 102 Measurement data acquisition unit, 103 Conversion setting unit, 104 Conversion unit, 105 Image generation unit, 106 Display control unit, 1000 Bus, 1001 Processor, 1002 Memory, 1003 Interface, 1004 Secondary storage device, B Setting button, C Input field.

Claims

1. Computer, a command data acquiring means for acquiring command data for controlling a drive device having a main shaft and a driven shaft, the command data being expressed in a first unit with respect to the main shaft; a measurement data acquiring means for acquiring measurement data relating to the main shaft and the driven shaft of the drive device, the measurement data being expressed in a second unit; a conversion means for converting the measurement data into converted measurement data in which data related to the spindle is expressed in the first unit, or for converting the command data into converted command data in which data related to the spindle is expressed in the second unit; A program that functions as a

2. the first unit is a unit representing a rotation angle of the spindle, The second unit is a unit representing an elapsed time from when the spindle starts to rotate. The program according to claim 1.

3. the command data includes command change rate data which is data related to the slave axis and is data related to a change rate based on the first unit; the measurement data includes measurement rate of change data, the measurement data being data relating to the slave axis and relating to a rate of change based on the second unit; the conversion means, when converting the measurement data into converted measurement data, further converts the measurement change rate data into data based on the first unit, or, when converting the command data into converted command data, further converts the command change rate data into data based on the second unit. The program according to claim 1.

4. The computer, and further functioning as an image generating means for generating an image in which a graph representing the command data and a graph representing the converted measurement data are superimposed, or an image in which a graph representing the converted command data and a graph representing the measurement data are superimposed. The program according to any one of claims 1 to 3.

5. The computer, and further functioning as an image generating means for generating an image of a graph showing a difference between the command data and the converted measured data or an image of a graph showing a difference between the converted command data and the measured data. The program according to any one of claims 1 to 3.

6. The computer, further functioning as an operation receiving means for receiving an operation from a user; the image generating means, when the user operates the operation accepting means to select a point on a graph included in the generated image, generates an image in which the selected point on the graph is highlighted. The program according to claim 4.

7. The image generating means further identifies important points among points on the graph included in the generated image, and generates an image in which the identified important points are highlighted. The program according to claim 4.

8. a command data acquiring means for acquiring command data for controlling a drive device having a main shaft and a slave shaft, the command data being expressed in a first unit with respect to the main shaft; a measurement data acquiring means for acquiring measurement data relating to the main shaft and the slave shaft of the driving device, the measurement data being expressed in a second unit; a conversion means for converting the measurement data into converted measurement data in which data related to the spindle is expressed in the first unit, or for converting the command data into converted command data in which data related to the spindle is expressed in the second unit; A data conversion device comprising:

9. acquiring command data for controlling a drive device having a main shaft and a driven shaft, the command data being expressed in a first unit with respect to the main shaft; acquiring measurement data relating to the main shaft and the driven shaft of the drive device, the measurement data being expressed in a second unit; converting the measurement data into converted measurement data in which data related to the spindle is expressed in the first unit, or converting the command data into converted command data in which data related to the spindle is expressed in the second unit; Data conversion methods.