Control parameter adjustment support device, control parameter adjustment support method, and program

Abstract

The control parameter adjustment support device (80) includes a display unit (82), a control unit (84) that displays a first image (101), a second image (102), and a third image (103) on the display unit (82), and an operation unit (81) that acquires a user's instruction for the first image (101), wherein the first image (101) indicates a relationship between the number of trials and an evaluation value for each trial, the second image (102) includes each value of a group of control parameters used in the number of trials corresponding to the instruction acquired by the operation unit (81) and each value of the group of control parameters when the best evaluation value was obtained, and the third image (103) includes a waveform that represents time-series data of a position deviation that is a difference between a target position and an observed position of an object servo-controlled by a servo motor (30) in the number of trials corresponding to the instruction acquired by the operation unit (81).

Description

[Technical field]

[0001] The present disclosure relates to a control parameter adjustment support device and the like. [Background technology]

[0002] A support device is known that supports a user in determining whether an object to be inspected, such as an automobile or a home appliance, is normal or abnormal by determining at least one of a feature quantity indicating the characteristics of waveform data and a control parameter for calculating the feature quantity from waveform data obtained when the object to be inspected is operated (see, for example, Patent Document 1). This support device displays a waveform when the object is normal and a waveform when the object is abnormal, thereby supporting the user in determining whether the object to be inspected is normal or abnormal. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 3874012 Summary of the Invention [Problem to be solved by the invention]

[0004] However, with the conventional support devices described above, the user can only make comparisons using waveform data alone, which creates the problem that it is difficult for the user to receive support from the support device when making fine adjustments to an object.

[0005] Therefore, an object of the present disclosure is to provide a control parameter adjustment support device etc. that allows a user to receive thorough support from the support device when making fine adjustments to an object. [Means for solving the problem]

[0006] In order to achieve the above-mentioned object, a control parameter adjustment support device according to one embodiment of the present disclosure is a control parameter adjustment support device that supports adjustment of each value of a control parameter group to be set in a servo control device when the servo control device controls a servo motor, and includes a display unit, a control unit that displays at least a first image, a second image, and a third image on one screen of the display unit, and an operation unit that acquires a user's instruction for the first image, wherein the first image shows a relationship between the number of trials and an evaluation value for each trial number obtained in a search for an optimal value of the control parameter group by repeating trials of control of the servo motor by the servo control device while changing each value of the control parameter group, the second image includes each value of the control parameter group used in the number of trials corresponding to the instruction acquired by the operation unit and each value of the control parameter group when the optimal evaluation value was obtained, and the third image includes a waveform that represents time series data of a position deviation that is a difference between a target position and an observed position of an object servo-controlled by the servo motor in the number of trials corresponding to the instruction acquired by the operation unit.

[0007] In order to achieve the above-mentioned object, a control parameter adjustment support method according to one embodiment of the present disclosure is a control parameter adjustment support method for supporting adjustment of each value of a group of control parameters to be set in a servo control device when the servo control device controls a servo motor, the control parameter adjustment support method including a control step of displaying at least a first image, a second image, and a third image on one screen on a display unit, and an operation step of acquiring a user's instruction for the first image, the first image showing a relationship between the number of trials and an evaluation value for each trial obtained in a search for the best value of the group of control parameters by repeating trials of control of the servo motor by the servo control device while changing each value of the group of control parameters, the second image including each value of the group of control parameters used in the number of trials corresponding to the instruction acquired in the operation step, and each value of the group of control parameters when the best evaluation value was obtained, and the third image including a waveform representing time series data of a position deviation which is a difference between a target position and an observed position of an object servo-controlled by the servo motor in the number of trials corresponding to the instruction acquired in the operation step.

[0008] In order to achieve the above object, a program according to an embodiment of the present disclosure causes a computer to execute the steps included in the above control parameter adjustment support method. Effect of the Invention

[0009] The present disclosure provides a control parameter adjustment support device and the like that allows a user to receive thorough support from the support device when making fine adjustments to an object. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram showing an overview of a production system according to an embodiment. [Diagram 2] FIG. 2 is a block diagram showing a functional configuration of the production system according to the embodiment. [Diagram 3] FIG. 3 is a sequence diagram showing a flow of trials in which the production system according to the embodiment searches for the best set of control parameters. [Figure 4] FIG. 4 is a flowchart showing a first display example in which the control unit displays the adjustment result obtained by the search in FIG. 3 on the display unit in the control parameter adjustment supporting device according to the embodiment. [Diagram 5] FIG. 5 is a diagram showing an example of an image displayed on the display unit by the control unit in FIG. [Figure 6] FIG. 6 is a flowchart showing another example of the flow of control parameter adjustment in the control parameter adjustment supporting device according to the embodiment. [Figure 7] FIG. 7 is a diagram showing a table for explaining an example of calculating the relative difference described with reference to FIG. [Figure 8] FIG. 8 is a diagram showing an example of an image that the control unit displays on the display unit if the result of step S32 in FIG. 6 is Yes. [Figure 9] FIG. 9 is a flowchart showing yet another example of the flow of control parameter adjustment in the control parameter adjustment supporting device according to the embodiment. [Figure 10] FIG. 10 is a diagram showing an example of an image that the control unit displays on the display unit when the user registers a servo parameter of interest in advance. [Figure 11] FIG. 11 is a diagram showing an example of an image that the control unit displays on the display unit if the result of step S42 in FIG. 9 is Yes. [Figure 12] FIG. 12 is a flowchart showing yet another example of the flow of control parameter adjustment in the control parameter adjustment supporting device according to the embodiment. [Figure 13] FIG. 13 is a diagram showing an example of an image that the control unit displays on the display unit if the result of step S320 in FIG. 12 is Yes. [Figure 14] FIG. 14 is a flowchart showing a flow in which the control unit updates the display contents of the first image every time one trial is completed in the control parameter adjustment supporting device according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] A control parameter adjustment support device according to a first aspect of the present disclosure is a control parameter adjustment support device that supports adjustment of each value of a control parameter group to be set in a servo control device when the servo control device controls a servo motor, and includes a display unit, a control unit that displays at least a first image, a second image, and a third image on one screen of the display unit, and an operation unit that acquires a user's instruction for the first image, wherein the first image shows a relationship between a number of trials and an evaluation value for each trial number obtained in a search for an optimal value of the control parameter group by repeating trials of control of the servo motor by the servo control device while changing each value of the control parameter group, the second image includes each value of the control parameter group used in the number of trials corresponding to the instruction acquired by the operation unit and each value of the control parameter group when the optimal evaluation value was obtained, and the third image includes a waveform that represents time series data of a position deviation that is a difference between a target position and an observed position of an object servo-controlled by the servo motor in the number of trials corresponding to the instruction acquired by the operation unit.

[0012] The control unit displays in the second image each value of the control parameter group of an arbitrary adjustment result of the driving object selected in the first image and each value of the control parameter group when the best evaluation value is obtained, so that the user can compare each value of the control parameter group. In addition, the control unit displays in the third image the adjustment result in an arbitrary number of trials of the driving object selected in the first image, so that the user can examine the contents that could not be confirmed by only comparing each value of the control parameter group shown in the second image. This allows the user to compare each value of the control parameter group and examine the cause of the difference between the adjustment result selected by the user and the best evaluation value. In addition, even if there are multiple best evaluation values, the user can select a more rational control parameter group from the viewpoint of the control stability of the production device by comparing each value of the control parameter group. Therefore, the user can receive generous support from the control parameter adjustment support device.

[0013] A control parameter adjustment support device according to a second aspect of the present disclosure is the control parameter adjustment support device according to the first aspect, wherein, in the second image, a control parameter having the smallest or largest relative difference from the corresponding value in the control parameter group when the best evaluation value was obtained, among the values ​​of the control parameter group used in the number of trials corresponding to the instruction acquired by the operation unit, is displayed at a specific display position in the second image or in a highlighted manner.

[0014] This makes it easier for the user to recognize control parameters with small relative differences between the values ​​of the control parameter group in the adjustment result selected by the user and the values ​​of the control parameter group when the best evaluation value is obtained. Therefore, the user can compare the adjustment result selected by the user with the best evaluation value to examine the cause of the difference. Furthermore, even if there are multiple best evaluation values, the user can select a more reasonable control parameter group from the viewpoint of control stability of the production equipment by comparing the values ​​of the control parameter group. Therefore, the user can receive even more thorough support from the control parameter adjustment support device.

[0015] A control parameter adjustment support device according to a third aspect of the present disclosure is the control parameter adjustment support device according to the first or second aspect, wherein, in the second image, the control parameter groups are arranged and displayed in ascending or descending order of relative differences between each value of the control parameter group used in the number of trials corresponding to the instruction acquired by the operation unit and each corresponding value of the control parameter group when the best evaluation value was obtained.

[0016] This allows the user to easily recognize control parameters with a large relative difference between each value of the control parameter group of the adjustment result selected by the user and each value of the control parameter group when the best evaluation value is obtained, or control parameters with a small relative difference. Therefore, the user can compare the adjustment result selected by the user with the best evaluation value to examine the cause of the difference. Furthermore, even if there are multiple best evaluation values, the user can select a more reasonable control parameter group from the viewpoint of control stability of the production equipment by comparing each value of the control parameter group. Therefore, the user can receive even more thorough support from the control parameter adjustment support device.

[0017] A control parameter adjustment support device according to a fourth aspect of the present disclosure is the control parameter adjustment support device according to the first aspect, wherein in the second image, one or more pre-selected control parameters from a group of control parameters used in a number of trials corresponding to the instruction acquired by the operation unit are displayed at a specific display position in the second image or in a highlighted manner.

[0018] This makes it easier for the user to compare the adjustment result selected by the user with the best evaluation value for the servo parameter of interest that the user has registered in advance. Therefore, the user can compare the adjustment result selected by the user with the best evaluation value and examine the cause of the difference. Furthermore, even if there are multiple best evaluation values, the user can select a more reasonable control parameter group from the viewpoint of control stability of the production apparatus by comparing each value of the control parameter group. Therefore, the user can receive even more thorough support from the control parameter adjustment support device.

[0019] A control parameter adjustment support device according to a fifth aspect of the present embodiment is the control parameter adjustment support device according to the first aspect, in which only control parameters for which the difference between each value of the control parameter group used in the number of trials corresponding to the instruction acquired by the operation unit and each corresponding value of the control parameter group when the best evaluation value was obtained exceeds a predetermined value are displayed in the second image.

[0020] Since the control unit displays on the display unit a table showing only the control parameters exceeding a predetermined value, the user can easily compare the adjustment result selected by the user with the best evaluation value for the control parameter. This allows the user to quickly compare the adjustment result selected by the user with the best evaluation value and examine the cause of the difference. Furthermore, even if there are multiple best evaluation values, the user can select a more reasonable control parameter group from the viewpoint of control stability of the production equipment by comparing the control parameter with the best evaluation value. Therefore, the user can receive even more thorough support from the control parameter adjustment support device.

[0021] A control parameter adjustment support device according to a sixth aspect of the present disclosure is the control parameter adjustment support device according to any of the first to fifth aspects, wherein the control unit further displays, on the single screen, a fourth image for selecting a type of waveform to be displayed in the third image over the same time course as the time series data.

[0022] As a result, the control unit displays the waveform selected by the user in the third image, so that the user can check only the necessary waveform data by displaying it in the third image.

[0023] A control parameter adjustment support device according to a seventh aspect of the present disclosure is the control parameter adjustment support device according to any of the first to sixth aspects, wherein the control unit, after one trial is completed in the search for the best set of control parameter values, obtains the number of trials and an evaluation value for the trial, and updates the first image so that the relationship between the obtained number of trials and the evaluation value is additionally displayed in the first image.

[0024] As a result, each time a trial is completed, the adjustment result obtained in that trial is reflected in the first image, allowing the user to check the obtained result in real time even during the search for the best control parameter group.

[0025] Furthermore, a control parameter adjustment support method according to an eighth aspect of the present disclosure is a control parameter adjustment support method for supporting adjustment of each value of a control parameter group to be set in a servo control device when the servo control device controls a servo motor, the control method including a control step of displaying at least a first image, a second image, and a third image on one screen of a display unit, and an operation step of acquiring a user's instruction for the first image, wherein the first image shows a relationship between the number of trials and an evaluation value for each trial obtained in a search for an optimal value of the control parameter group by repeating trials of control of the servo motor by the servo control device while changing each value of the control parameter group, the second image includes each value of the control parameter group used in the number of trials corresponding to the instruction acquired in the operation step, and each value of the control parameter group when the optimal evaluation value was obtained, and the third image includes a waveform representing time series data of a position deviation which is a difference between a target position and an observed position of an object servo-controlled by the servo motor in the number of trials corresponding to the instruction acquired in the operation step.

[0026] By displaying each value of the control parameter group of an arbitrary adjustment result of the driving object selected in the first image in the control step and each value of the control parameter group when the best evaluation value is obtained, the user can compare each value of the control parameter group. Also, by displaying the adjustment result in an arbitrary number of trials of the driving object selected in the first image in the control step in the third image, the user can examine the contents that could not be confirmed by only comparing each value of the control parameter group shown in the second image. This allows the user to compare the adjustment result selected by the user with the best evaluation value and examine the cause of the difference. Also, even if there are multiple best evaluation values, the user can select a more rational control parameter group from the viewpoint of control stability of the production device by comparing each value of the control parameter group. Therefore, the user can receive generous support from the control parameter adjustment support method.

[0027] A program according to a ninth aspect of the present disclosure causes a computer to execute steps included in the control parameter adjustment support method according to the eighth aspect.

[0028] According to such a program, the computer displays each value of the control parameter group of an arbitrary adjustment result of the driving object selected in the first image and each value of the control parameter group when the best evaluation value is obtained, so that the user can compare each value of the control parameter group. In addition, the control unit displays the adjustment result of an arbitrary number of trials of the driving object selected in the first image in the third image, so that the user can examine the contents that could not be confirmed by only comparing each value of the control parameter group shown in the second image. This allows the user to compare the adjustment result selected by the user with the best evaluation value and examine the cause of the difference. In addition, even if there are multiple best evaluation values, the user can select a more rational control parameter from the viewpoint of control stability of the production device by comparing each value of the control parameter group. Therefore, the user can receive generous support from the computer.

[0029] (Embodiment) Hereinafter, the embodiments of the present disclosure will be described in detail with reference to the drawings. Note that each of the embodiments described below shows a specific example of the present disclosure. The numerical values, components, the arrangement and connection forms of the components, steps, the order of steps, display examples, etc. shown in the following embodiments are merely examples and are not intended to limit the present disclosure. Therefore, among the components in the following embodiments, components that are not described in the independent claims showing the highest concept of the present disclosure will be described as optional components. Also, each figure is not necessarily a strict illustration. In each figure, substantially the same configuration is given the same symbol, and duplicated explanations are omitted or simplified.

[0030] [composition] FIG. 1 is a diagram showing an overview of a production system 1 according to an embodiment.

[0031] As shown in Fig. 1, the production system 1 is a system that produces an object. The production system 1 includes a production device 10 (an example of an object), a sensor information collecting device 70, and a control parameter adjustment support device 80. The production device 10, the sensor information collecting device 70, and the control parameter adjustment support device 80 are communicatively connected to each other via a communication line. The communication realized by the communication line may be wired communication or wireless communication.

[0032] The production device 10 is a device that produces an object, and is, for example, various industrial devices such as mounting devices, processing devices, and machining devices that are installed in a factory, etc. The production device 10 includes a driven object 20, a servo motor 30, a servo control device 40, an encoder 50, and a sensor 60.

[0033] The driven object 20 is an object that is driven by the servo motor 30. For example, when the production apparatus 10 is a mounting apparatus, the driven object 20 is a moving part (head) that moves relative to a board (not shown) to mount an electronic component on the board.

[0034] The servo motor 30 is a motor that drives the driven object 20. For example, when the production apparatus 10 is a mounting apparatus, the servo motor 30 moves the driven object 20 relative to the board.

[0035] The servo control device 40 is, for example, a servo amplifier. The servo control device 40 drives (controls) the servo motor 30 based on the servo information transmitted from the control parameter adjustment support device 80, thereby controlling the driving of the driven object 20. The servo information is information including a control parameter group and an operation pattern. The control parameter group is used by the servo control device 40 to control the driven object 20. The control parameter group is a parameter set consisting of a plurality of parameters, and includes, for example, a position gain, a torque gain, and an integral gain. The operation pattern is an operation pattern of the driven object 20, and includes, for example, a moving distance, a maximum speed, an acceleration time, and a deceleration time of the driven object 20.

[0036] The encoder 50 detects the amount of displacement, etc. of the servo motor 30, and generates encoder information indicating the detected amount of displacement, etc. of the servo motor 30. The encoder 50 transmits the generated encoder information to the control parameter adjustment support device 80.

[0037] The sensor 60 detects the position of the driven object 20 and generates sensor information indicating the detected position of the driven object 20. The sensor 60 is, for example, a camera, and transmits the generated sensor information to the sensor information collecting device 70.

[0038] The sensor information collecting device 70 collects sensor information generated by the sensor 60. The sensor information collecting device 70 transmits the collected sensor information to the control parameter adjustment supporting device 80.

[0039] The control parameter adjustment support device 80 is a device that supports the adjustment of each value of a group of control parameters set in the servo control device 40 when the servo control device 40 controls the servo motor 30. The control parameter adjustment support device 80 is a terminal device such as a personal computer installed in a factory or the like, and is operated by a user. The control parameter adjustment support device 80 is used to adjust the group of control parameters described above. The control parameter adjustment support device 80 receives encoder information transmitted from the encoder 50 and sensor information transmitted from the sensor information collection device 70. In addition, the control parameter adjustment support device 80 adjusts the group of control parameters based on the received encoder information and sensor information, and transmits servo information including the adjusted group of control parameters to the production device 10.

[0040] FIG. 2 is a block diagram showing a functional configuration of the production system 1 according to the embodiment.

[0041] As shown in FIG. 2, the servo control device 40 of the production device 10 includes, as its functional components, a servo information acquisition unit 41, a servo information output unit 42, a storage unit 43, and a control unit 44.

[0042] The servo information acquisition unit 41 acquires (receives) the servo information transmitted from the control parameter adjustment support device 80. The servo information acquisition unit 41 is realized by, for example, a communication module or the like.

[0043] The servo information output unit 42 outputs (transmits) the servo information acquired by the servo information acquisition unit 41. The servo information output unit 42 is realized by, for example, a communication module or the like.

[0044] The storage unit 43 stores various information, programs, etc. The storage unit 43 is realized by, for example, a memory.

[0045] The control unit 44 controls the entire servo control device 40. The control unit 44 is realized by, for example, a processor or the like. That is, the processor executes a program stored in a memory, thereby performing various functions of the servo control device 40.

[0046] Also, as shown in FIG. 2, the control parameter adjustment support device 80 has, as its functional configuration, an operation unit 81, a display unit 82, a memory unit 83, a control unit 84, a setting unit 85, an operation result acquisition unit 86, an adjustment unit 87, an adjustment result output unit 88, and a servo information output unit 89.

[0047] The operation unit 81 accepts input from the user. Specifically, the operation unit 81 accepts input from the user of a target performance value, a set time, and a set number of times. The target performance value is a target numerical value of an index related to the performance of the production device 10 (for example, the settling time and vibration of the driven object 20). The settling time is the time required for the driven object 20 to reach an allowable position from the drive start position, at which it can be evaluated that the driven object 20 has reached the target position. The set time is the settling time of the control parameters input in advance by the user when adjusting the control parameters. The set number of times is the number of changes of the control parameters input in advance by the user when adjusting the control parameters. The operation unit 81 is realized by, for example, a keyboard and a mouse.

[0048] The display unit 82 displays various information and is realized by, for example, a liquid crystal display.

[0049] The storage unit 83 stores various information, programs, etc. The storage unit 83 is realized by, for example, a memory, etc. The storage unit 83 may store a trained model.

[0050] The control unit 84 controls the entire control parameter adjustment support device 80. The control unit 84 is realized by, for example, a processor. That is, the processor executes a program stored in a memory, thereby performing various functions of the control parameter adjustment support device 80.

[0051] The setting unit 85 sets a target performance value, a set time, and a set number of times based on a user's input received by the operation unit 81. The setting unit 85 is realized by, for example, a processor or the like.

[0052] The operation result acquisition unit 86 acquires the encoder information transmitted from the encoder 50 and the sensor information transmitted from the sensor information collection device 70. Then, the operation result acquisition unit 86 acquires the operation result of the driven object 20 (i.e., the operation result of the production apparatus 10) based on at least one of the acquired encoder information and sensor information. The operation result acquisition unit 86 is realized by, for example, a communication module or the like.

[0053] The adjustment unit 87 sets one or more adjustment target motion groups as motion patterns of the driven object 20 when adjusting the control parameter group. Each adjustment target motion group includes a plurality of motion conditions. The plurality of motion conditions include, for example, (a) a motion condition for moving the driven object 20 1 mm from the drive start position, (b) a motion condition for moving the driven object 20 5 mm from the drive start position, and (c) a motion condition for moving the driven object 20 10 mm from the drive start position.

[0054] Furthermore, the adjustment unit 87 adjusts the control parameter group based on the operation result of the object to be driven 20 acquired by the operation result acquisition unit 86 when the object to be driven 20 is operated in the above-mentioned operation pattern. Next, the adjustment unit 87 adjusts the control parameter group again based on the operation result of the object to be driven 20 acquired by the operation result acquisition unit 86 when the object to be driven 20 is operated again with the adjusted control parameter group. Then, the adjustment unit 87 sequentially searches for the best control parameter group by repeatedly executing the above process. That is, the adjustment unit 87 executes an algorithm that solves so-called "combinatorial optimization" that searches for a control parameter group capable of achieving a desired target performance value from among a large number of control parameter groups.

[0055] Instead of the above process, the adjustment unit 87 may adjust the control parameter group based on the operation result of the driven object 20 acquired by the operation result acquisition unit 86 by using the trained model stored in the storage unit 83 when the driven object 20 is operated in the above-mentioned operation pattern. The trained model is constructed by performing machine learning using, for example, the performance of the production device 10, the encoder information generated by the encoder 50, and the sensor information generated by the sensor 60 as teacher data. For example, a neural network or the like is used to construct the theoretical model in the machine learning.

[0056] The adjustment result output unit 88 controls the control unit 84 to output the operation pattern set by the adjustment unit 87 and the group of control parameters adjusted by the adjustment unit 87. In addition, the adjustment result output unit 88 controls the control unit 84 to output the operation pattern set by the adjustment unit 87 and the group of control parameters adjusted by the adjustment unit 87 to the display unit 82.

[0057] The servo information output unit 89 outputs (transmits) to the production device 10 the servo information including the operation pattern and the control parameter group output by the control unit 84.

[0058] [Operation when searching for control parameters] FIG. 3 is a sequence diagram showing a flow of trials in which the production system 1 according to the embodiment searches for an optimal set of control parameters.

[0059] 3, first, the adjustment unit 87 of the control parameter adjustment support device 80 sets an initial control parameter group, and sets a first motion group to be adjusted as an initial motion pattern of the driven object 20 (step S11). Next, the servo information output unit 89 of the control parameter adjustment support device 80 outputs servo information including the initial control parameter group and motion pattern (first motion group to be adjusted) set by the adjustment unit 87 to the production apparatus 10 (step S12).

[0060] Then, the servo information acquisition unit 41 of the servo control device 40 of the production device 10 acquires the servo information from the control parameter adjustment support device 80. The servo information output unit 42 of the servo control device 40 outputs the servo information acquired by the servo information acquisition unit 41 to the control unit 44. The control unit 44 drives (controls) the servo motor 30 based on the servo information output from the servo information output unit 42, thereby controlling the driving of the driven object 20 (step S13). As a result, the driven object 20 performs an operation based on the servo information by the servo motor 30.

[0061] Then, the operation result acquisition unit 86 of the control parameter adjustment support device 80 acquires the encoder information transmitted from the encoder 50 and the sensor information transmitted from the sensor 60 (i.e., the sensor information collection device 70) (step S14). As a result, the operation result acquisition unit 86 acquires the operation result of the object to be driven 20 based on at least one of the acquired encoder information and sensor information (step S15). The operation result of the object to be driven 20 includes, for example, the number of trials for adjusting the control parameter group in order to sequentially search for the best control parameter group, an evaluation value (settling time) for each trial, and the like.

[0062] Then, the adjustment unit 87 of the control parameter adjustment support device 80 adjusts the control parameter group to sequentially search for the best control parameter group based on the operation result of the object to be driven 20 acquired by the operation result acquisition unit 86. Furthermore, the adjustment unit 87 sets a second operation group to be adjusted, which is different from the first operation group to be adjusted, as the operation pattern of the object to be driven 20. Note that, instead of the above process, the adjustment unit 87 may adjust the control parameter group based on the operation result of the object to be driven 20 acquired by the operation result acquisition unit 86, using a learned model stored in the storage unit 83.

[0063] Then, the servo information output unit 89 of the control parameter adjustment support device 80 outputs servo information including the control parameter group adjusted by the adjustment unit 87 and the operation pattern (second operation group to be adjusted) set by the adjustment unit 87 to the production apparatus 10 (step S12). Thereafter, steps S12 to S15 are repeatedly executed in the same manner as described above.

[0064] [Example of images for adjusting control parameters] Fig. 4 is a flowchart showing an example of displaying the adjustment result obtained by the control unit 84 through the search in Fig. 3 on the display unit 82 in the control parameter adjustment support device 80 according to the embodiment. The adjustment result means the operation result of the driven object 20 acquired by the operation result acquisition unit 86.

[0065] First, the control unit 84 displays the first image, the second image, and the third image on the display unit 82 as the initial display of the adjustment result of the driven object 20 (step S20). For example, the first image displays a scatter diagram on the display unit 82, in which the horizontal axis indicates the number of trials in which the control parameters were adjusted to sequentially search for the best control parameter group, and the vertical axis indicates the evaluation value (settling time) at each trial number. The second image and the third image show information about one trial selected from the first image. More specifically, the second image displays each value of the control parameters corresponding to the evaluation value of the first image. Also, the third image displays waveform data corresponding to the evaluation value of the first image. Note that one trial selected from the first image is displayed on the second image and the third image as an initial value. Specifically, the information displayed on the second image and the third image may be, for example, the evaluation value measured first or the evaluation value measured last.

[0066] Next, the user selects an adjustment result for an arbitrary number of trials of the driving object 20 shown in the scatter diagram (first image) displayed on the display unit 82 (step S21). That is, the user selects one trial from among the multiple trials shown in the first image. Then, the operation unit 81 acquires the one trial selected by the user as an instruction from the user.

[0067] Next, the control unit 84 displays each value of the control parameter group (second image) and waveform data (third image) of the adjustment result selected by the user. Furthermore, the control unit 84 displays each value of the control parameter group and waveform data when the best evaluation value (evaluation value with the shortest settling time) is obtained in the first image (step S22).

[0068] When the user selects another adjustment result of the driving object 20 (Yes in step S23), that is, when the user selects another trial from the multiple trials shown in the first image, the process returns to the above-mentioned step S21. In this case, the user selects another trial from the multiple trials shown in the first image (step S21).

[0069] If the user does not select another adjustment result for the driven object 20 (No in step S23), that is, if the user does not select another trial from the multiple trials shown in the first image, the control parameter adjustment support device 80 terminates the adjustment support for the user of the control parameters.

[0070] FIG. 5 is a diagram showing an example of an image displayed on the display unit 82 by the control unit 84 in FIG.

[0071] As shown in FIG. 5, the control unit 84 displays a first image 101, a second image 102, a third image 103, a fourth image 104, a fifth image 105, an additional adjustment button 106, a save button 107, and an exit button 108 on the same screen on the display unit 82.

[0072] In the first image 101, a scatter diagram is displayed in which the horizontal axis indicates the number of trials in which the control parameters are adjusted to sequentially search for the best control parameter group, and the vertical axis indicates the provisional time for each trial. The provisional time for each trial is the evaluation value (settling time) for each trial. The adjustment results of the drive object 20 shown in the scatter diagram are displayed in the scatter diagram as white circles. Among the adjustment results of the drive object 20 shown in the scatter diagram, the adjustment result with the best evaluation value is displayed in the scatter diagram as black diamonds. Furthermore, when the user selects an adjustment result for an arbitrary number of trials for the drive object 20 selected by the user, the selected adjustment result is displayed in the scatter diagram as a circle with a diagonal line. The selected adjustment result is displayed as the current evaluation value. The solid line shown in the scatter diagram is a line indicating the best evaluation value obtained in the number of trials up to that point. The adjustment results displayed in the scatter diagram may be adjustment results acquired before being stored in the storage unit 83, or may be adjustment results acquired in real time by the operation result acquisition unit 86.

[0073] Also displayed in the first image 101 is a table showing the provisional times (settling times) of the current evaluation value and the best evaluation value, and the number of trials.

[0074] In the second image 102, a table is displayed showing each value of the control parameter group used in the number of trials corresponding to the instruction acquired by the operation unit 81 and each value of the control parameter group when the best evaluation value was obtained. That is, in the second image 102, a table is displayed showing each value of the control parameter group of the adjustment result (i.e., the current evaluation value) in an arbitrary number of trials of the driving object 20 selected by the user in the first image 101 and each value of the control parameter group when the best evaluation value was obtained. As shown in FIG. 5, for example, the left column of the table displays the number of trials and the name of the control parameter group, the center column of the table displays the number of trials and each value of the control parameter group when the current evaluation value was obtained, and the right column of the table displays the number of trials and each value of the control parameter group when the best evaluation value was obtained.

[0075] The control unit 84 displays, in the second image 102, each value of the control parameter group of any adjustment result of the driven object 20 selected in the first image 101 and each value of the control parameter group when the best evaluation value is obtained, so that the user can compare each value of the control parameter group. This allows the user to compare each value of the control parameter group and examine the cause of the difference between the adjustment result selected by the user and the best evaluation value. Furthermore, even if there are multiple best evaluation values, the user can select a more reasonable control parameter group from the viewpoint of control stability of the production apparatus 10 by comparing each value of the control parameter group.

[0076] The third image 103 displays a waveform representing time series data of a position deviation, which is a difference between a target position and an observed position of the driven object 20 servo-controlled by the servo motor 30 in a trial of a trial number corresponding to an instruction acquired by the operation unit 81. That is, the third image 103 displays a waveform representing time series data of a position deviation, which is a difference between a target position and an observed position of the driven object 20 servo-controlled by the servo motor 30, in an arbitrary adjustment result of the driven object 20 selected by the user in the first image 101. As shown in FIG. 5, for example, the third image 103 displays a graph shown by a solid line with the horizontal axis representing elapsed time and the vertical axis representing an evaluation waveform. The value of the evaluation waveform displayed on the vertical axis is a value indicating a position deviation, which is a difference between a target position and an observed position of the driven object 20 servo-controlled by the servo motor 30. Specifically, the servo control device 40 controls the drive of the driven object 20 until the driven object 20 reaches an allowable position that can be evaluated as having reached the target position from the drive start position, thereby obtaining a graph in which the value of the evaluation waveform changes to 0. Furthermore, a graph shown by a dashed line with the horizontal axis representing elapsed time and the vertical axis representing the position command speed is displayed in the third image 103. The value indicated by the position command speed displayed on the vertical axis is a value indicating the moving speed of the driven object 20 that is servo-controlled by the servo motor 30.

[0077] The control unit 84 displays the adjustment results of an arbitrary number of trials for the driven object 20 selected in the first image 101 in the third image 103, so that the user can consider the contents that could not be confirmed by only comparing the values ​​of the control parameter group shown in the second image 102. Specifically, by checking the waveform data shown in the third image 103, the user can evaluate that the waveform data with less fluctuation is the best adjustment result for the driven object 20. This allows the user to select the best control parameter group by comparing the fluctuation of the waveform data when multiple adjustment results with the same evaluation value are obtained.

[0078] A selection image is displayed in the fourth image 104 for the user to select the type of waveform to be displayed over the same time course as the time series data in the third image 103. The user can select the graph to be displayed by clicking the check box in the column to the left of the selection image. Note that the number of items selected in the selection image may be one or more.

[0079] As a result, the control unit 84 displays the waveform selected by the user on the third image 103, so that the user can display only the necessary waveform data on the third image 103 and check it.

[0080] The fifth image 105 displays a table of the progress status and the current adjustment conditions. The progress status table displays the time elapsed since the start of the adjustment to obtain the best adjustment result and the number of trials, which indicates how many adjustments have been completed with respect to the number of trials determined by the user. The current adjustment conditions table displays the movement direction, movement amount, maximum speed, and acceleration / deceleration time of the driven object 20 in the most recent number of trials.

[0081] The add adjustment button 106 is a button for causing the control unit 84 to display, on the display unit 82, an image (not shown) for adding a control parameter group and an operation pattern. In other words, when the user clicks the add adjustment button 106, the control unit 84 displays, on the display unit 82, an image for adding a control parameter group and an operation pattern.

[0082] Save button 107 is a button for causing control unit 84 to display on display unit 82 an image (not shown) that saves data such as the adjustment result displayed in first image 101 and the values ​​of the control parameters when the adjustment result was obtained. In other words, when the user clicks save button 107, control unit 84 displays on display unit 82 an image that saves data such as the adjustment result displayed in first image 101 and the values ​​of the control parameters when the adjustment result was obtained.

[0083] The end button 108 is a button for causing the control unit 84 to end support for the user in adjusting the control parameter group. In other words, when the user clicks the end button 108, the control unit 84 ends support for the user in adjusting the control parameter group. For example, when the control unit 84 ends support for the user in adjusting the control parameter group, it ends the display of the image shown in FIG. 5.

[0084] [Example of displaying control parameters based on the relative difference between each value of the control parameters] FIG. 6 is a flowchart showing another example of the flow of control parameter adjustment in the control parameter adjustment supporting device 80 according to the embodiment.

[0085] First, the user selects an adjustment result for an arbitrary number of trials of the driving object 20 shown in the scatter diagram (first image 101 shown in FIG. 5) displayed on the display unit 82 (step S31). That is, the user selects one trial from among the multiple trials shown in the first image 101 shown in FIG. 5. Then, the operation unit 81 acquires the one trial selected by the user as an instruction from the user.

[0086] Next, the user selects whether to display or highlight the control parameter having a large (or small) relative difference between the adjustment result selected by the user and the best evaluation value at the top (step S32). Note that, regarding the selection of step S32, information related to step S32 set by the user in advance is stored in the storage unit 83, so the user does not have to select each time. In other words, the control unit 84 may select whether to display or highlight the control parameter at the top by reading out the information stored in the storage unit 83.

[0087] If the user selects to display at the top or to highlight (Yes in step S32), the display unit 82 displays a table in the second image 102 shown in Fig. 5 in which the control parameters having a large (or small) relative difference between the adjustment result selected by the user and the best evaluation value are displayed at the top or highlighted (step S33). A detailed description of the relative difference will be given later.

[0088] If the user does not select to display or highlight at the top (No in step S32), the display unit 82 displays a table in which control parameters with a large (or small) relative difference between the adjustment result selected by the user and the best evaluation value are not displayed at the top or are not highlighted (i.e., a table in the normal display displayed in the second image 102 shown in Figure 5) (step S34).

[0089] Then, if the user selects another adjustment result for the driven object 20 (Yes in step S35), that is, if the user selects another trial from the multiple trials shown in the first image 101 shown in FIG. 5, the process returns to step S31 described above.

[0090] If the user does not select another adjustment result for the driven object 20 (No in step S35), that is, if the user does not select another trial from the multiple trials shown in the first image 101 shown in FIG. 5, the control parameter adjustment support device 80 terminates the control parameter adjustment support for the user.

[0091] FIG. 7 is a diagram showing a table for explaining an example of calculating the relative difference described with reference to FIG.

[0092] The name of the first column from the left shown in Fig. 7 corresponds to the name of the left column displayed in second image 102 of Fig. 5. In addition, the current evaluation value of the second column from the left shown in Fig. 7 corresponds to the current evaluation value of the center column displayed in second image 102 of Fig. 5. And the best evaluation value of the third column from the left shown in Fig. 7 corresponds to the best evaluation value of the right column displayed in second image 102 of Fig. 5.

[0093] The relative difference in the fourth column from the left in Fig. 7 is a ratio calculated using the current evaluation value shown in Fig. 7 and the best evaluation value shown in Fig. 7. In the actual adjustment of the control parameter adjustment support device 80, the relative difference is calculated using the current evaluation value and the best evaluation value shown in the second image 102 in Fig. 5. Specifically, the adjustment unit 87 calculates the relative difference based on the following formula 1.

[0094] Relative difference = ABS(1-(control parameter value selected by the user) / (control parameter value when the best evaluation value was obtained)) (Equation 1) Even if the number of digits of each value differs depending on the control parameter, the control parameters can be compared using an index called a relative difference by calculating the ratio according to the above formula 1. As shown in Fig. 7, for example, when the adjustment unit 87 calculates the relative difference based on the above formula 1, the control parameter with the largest relative difference is B, and the control parameter with the smallest relative difference is C. Note that, when the value of the control parameter when the best evaluation value is obtained is 0, the adjustment unit 87 does not perform the calculation of the above formula 1. In other words, when the value of the control parameter when the best evaluation value is obtained is 0, the adjustment unit 87 calculates the relative difference of the control parameter whose value is not 0.

[0095] FIG. 8 is a diagram showing an example of an image that the control unit 84 displays on the display unit 82 if the result of step S32 in FIG. 6 is Yes.

[0096] 8, a table in which control parameters with larger relative differences are displayed at the top is displayed in the second image 102. Note that the second image 102 may display a table in which control parameters with smaller relative differences are displayed at the top, or the order of the control parameters may be left unchanged and the columns for the names of the control parameters and the values ​​of the control parameters may be highlighted by inverting the black and white.

[0097] From the above explanation, the user can easily recognize control parameters with a large relative difference between each value of the control parameter group of the adjustment result selected by the user and each value of the control parameter group when the best evaluation value is obtained, or control parameters with a small relative difference. Therefore, the user can compare the adjustment result selected by the user with the best evaluation value and examine the cause of the difference. Furthermore, even if there are multiple best evaluation values, the user can select a more reasonable control parameter group from the viewpoint of control stability of the production apparatus 10 by comparing each value of the control parameter group.

[0098] [Example of control parameter display based on the servo parameter of interest] Fig. 9 is a flowchart showing yet another example of the flow of control parameter adjustment in the control parameter adjustment support device 80 according to the embodiment. Before the flowchart shown in Fig. 9, the user registers in the control parameter adjustment support device 80 a servo parameter of interest, which is one or more control parameters preselected from a control parameter group used in the number of trials corresponding to an instruction acquired by the operation unit 81. The storage unit 83 stores the registered servo parameter of interest. A method of registering the servo parameter of interest will be described in detail later.

[0099] First, the user selects an adjustment result for an arbitrary number of trials of the driving object 20 shown in the scatter diagram (first image shown in FIG. 5) displayed on the display unit 82 (step S41). That is, the user selects one trial from among the multiple trials shown in the first image 101 shown in FIG. Then, the operation unit 81 acquires the one trial selected by the user as an instruction from the user.

[0100] Next, the control unit 84 determines whether or not the servo parameter of interest has been set (that is, registered) in advance (step S42).

[0101] If the control unit 84 determines that the servo parameters of interest have been set (Yes in step S42), the display unit 82 displays a table in the second image shown in FIG. 5, in which the registered servo parameters of interest are displayed at the top or highlighted (step S43).

[0102] If the control unit 84 determines that the servo parameter of interest has not been set (No in step S42), the display unit 82 displays a table in which the registered servo parameters of interest are not displayed at the top or are not highlighted (i.e., a table in the normal display displayed in the second image 102 shown in FIG. 5) (step S44).

[0103] Then, if the user selects another adjustment result for the driven object 20 (Yes in step S45), that is, if the user selects another trial from the multiple trials shown in the first image shown in FIG. 5, the process returns to step S41 described above.

[0104] If the user does not select another adjustment result for the driven object 20 (No in step S45), that is, if the user does not select another trial from the multiple trials shown in the first image shown in FIG. 5, the control parameter adjustment support device 80 terminates the control parameter adjustment support for the user.

[0105] FIG. 10 is a diagram showing an example of an image that the control unit 84 displays on the display unit 82 when the user registers a servo parameter of interest in advance.

[0106] As shown in FIG. 10, before the adjustment unit 87 starts adjusting the best control parameter group, the user registers a servo parameter of interest in a setting image displayed on the display unit 82. In the setting image, a table is displayed in which the names of the control parameters are displayed in the right column and check boxes are arranged in the left column. The user checks the check box corresponding to the control parameter of interest from among the displayed control parameters. The number of registered servo parameters of interest may be one or more. For example, as shown in FIG. 10, the user selects "vibration damping filter switching selection", "first vibration damping frequency", and "command smoothing filter". As a result, the operation unit 81 accepts the selection of the control parameters, and the control unit 84 registers the control parameters as servo parameters of interest. The control unit 84 also stores the servo parameters of interest in the storage unit 83.

[0107] Furthermore, a back button 111, a save button 112, and a next button 113 are displayed on the setting image.

[0108] The back button 111 is a button for causing the control unit 84 to transition from the above-mentioned setting image to an image (not shown) for setting a control parameter group and an operation pattern. In other words, when the user clicks the back button 111, the control unit 84 transitions the image displayed on the display unit 82 from the above-mentioned setting image to an image (not shown) for setting a control parameter group and an operation pattern.

[0109] The save button 112 is a button for causing the control unit 84 to display on the display unit 82 an image (not shown) for saving the conditions of the servo parameters of interest registered by the user. In other words, when the user clicks the save button 112, the control unit 84 displays on the display unit 82 an image for saving the conditions of the servo parameters of interest registered by the user.

[0110] Next button 113 is a button for causing control unit 84 to start adjusting the best control parameter group by adjustment unit 87 from the above-mentioned setting image. In other words, when the user clicks next button 113, the image displayed on display unit 82 transitions from the above-mentioned setting image to an image where adjustment unit 87 starts adjusting the best control parameters.

[0111] Fig. 11 is a diagram showing an example of an image that the control unit 84 displays on the display unit 82 if the answer is Yes in step S42 of Fig. 9. Fig. 11 is a diagram showing an example of a display by the display unit 82 in the case where the control parameters registered in Fig. 10 are highlighted.

[0112] As shown in Fig. 11, the second image 102 displays a table in which the columns of the names and values ​​of the control parameters are highlighted by inverting black and white. Specifically, the second image 102 displays a table in which the columns of the names and values ​​of the control parameters "vibration damping filter switching selection", "first vibration damping frequency", and "command smoothing filter" are highlighted by inverting black and white. Note that the table may be displayed in a manner such that the control parameters with larger relative differences are displayed at the top, or that the control parameters with smaller relative differences are displayed at the top.

[0113] The above description makes it easier for the user to compare the adjustment result selected by the user with the best evaluation value for the servo parameter of interest that the user has registered in advance. Therefore, the user can compare the adjustment result selected by the user with the best evaluation value and examine the cause of the difference. Furthermore, even if there are multiple best evaluation values, the user can select a more reasonable control parameter from the viewpoint of control stability of the production apparatus 10 by comparing each value of the control parameter group.

[0114] [Example of displaying control parameters based on the difference between each value of the control parameters] FIG. 12 is a flowchart showing yet another example of the flow of control parameter adjustment in the control parameter adjustment supporting device 80 according to the embodiment.

[0115] First, the user selects an adjustment result for an arbitrary number of trials of the driving object 20 shown in the scatter diagram (first image 101 shown in FIG. 5) displayed on the display unit 82 (step S310). That is, the user selects one trial from among the multiple trials shown in the first image 101 shown in FIG. 5. Then, the operation unit 81 acquires the one trial selected by the user as an instruction from the user.

[0116] Next, the user selects whether to display only control parameters whose difference between each value of the control parameter group used in the adjustment result acquired by the operation unit 81 and each value of the control parameter group when the best evaluation value is obtained exceeds a predetermined value (step S320). Note that, when the storage unit 83 stores information about step S320 set by the user in advance (i.e., information about whether to display only control parameters whose difference exceeds a predetermined value), the user does not need to select each time. That is, the control unit 84 may determine whether to display only control parameters whose difference exceeds a predetermined value by reading out the information stored in the storage unit 83. Also, the predetermined value is set to 0 by default, for example, and the user may change the predetermined value as desired.

[0117] If the user selects to display only control parameters that exceed a predetermined value (No in step S320), the control unit 84 displays on the display unit 82 an image in which the table displayed in the second image 102 shown in FIG. 5 has been changed to a table that displays only control parameters whose difference from the value when the best evaluation value was obtained exceeds the predetermined value (step S330).

[0118] If the user does not select to display only control parameters that exceed a predetermined value (Yes in step S320), the control unit 84 displays on the display unit 82 a table in normal display as displayed in the second image 102 shown in FIG. 5 (step S340).

[0119] Then, if the user selects another adjustment result for the driven object 20 (Yes in step S350), that is, if the user selects another trial from the multiple trials shown in the first image 101 shown in FIG. 5, the process returns to step S31 described above.

[0120] If the user does not select another adjustment result for the driven object 20 (No in step S350), that is, if the user does not select another trial from the multiple trials shown in the first image 101 shown in FIG. 5, the control parameter adjustment support device 80 terminates the control parameter adjustment support for the user.

[0121] Fig. 13 is a diagram showing an example of display by the display unit 82 in the case where the answer is Yes in step S320 in Fig. 12. Note that a selection area 102a having a check box is added to the second image 102 in Fig. 13.

[0122] 13 (i.e., when the user checks the checkbox), the operation unit 81 accepts, as a user instruction, an instruction to display only control parameters whose differences exceed a predetermined value. This causes the control unit 84 to display, on the display unit 82, an image that has been changed from the table displayed in the second image 102 shown in FIG. 5 to a table that displays only the control parameters that exceed the predetermined value, based on the user instruction.

[0123] Furthermore, when the user selects the selection area 102a again (i.e., leaves the check box blank), the operation unit 81 accepts as a user instruction that the selection of not selecting to display only the control parameters whose differences exceed the predetermined value is not made. As a result, the control unit 84, based on the user instruction, displays on the display unit 82 an image that has been changed from the table displaying only the control parameters whose differences exceed the predetermined value to the table displayed in the second image 102 shown in Fig. 5 (i.e., the normal display).

[0124] As described above, the control unit 84 displays on the display unit 82 a table showing only the control parameters exceeding the predetermined value, so that the user can easily compare the adjustment result selected by the user with the best evaluation value for the control parameter. This allows the user to quickly compare the adjustment result selected by the user with the best evaluation value and examine the cause of the difference. Furthermore, even if there are multiple best evaluation values, the user can select a more reasonable group of control parameters from the viewpoint of the control stability of the production apparatus 10 by comparing the control parameter with the best evaluation value.

[0125] [Updated first image] FIG. 14 is a flowchart showing a flow in which the control unit 84 updates the display contents of the first image 101 every time one trial is completed in the control parameter adjustment support device 80 according to the embodiment.

[0126] First, the control parameter adjustment support device 80 starts trials from 1 to n (loop A, step S51).

[0127] Next, the adjustment unit 87 starts trials by adjusting the control parameters in order to sequentially search for the best control parameters (step S52).

[0128] The control unit 84 determines whether or not one trial has been completed (step S53).

[0129] When the control unit 84 determines that one trial has not been completed (No in step S53), the process returns to step S53. The control unit 84 again determines whether one trial has been completed (step S53).

[0130] When the control unit 84 determines that one trial is completed (Yes in step S53), the control unit 84 updates the scatter diagram displayed in the first image 101. That is, the control unit 84 updates the scatter diagram displayed in the first image 101 shown in FIG. 5 so that the newly obtained adjustment result is displayed in the scatter diagram.

[0131] If the trial has not been completed n times (loop A, step S55), the process returns to step S51 and the update procedure is repeated (loop A, steps S51 to S55). If the trial has been completed n times, the control unit 84 ends the procedure for updating the scatter diagram.

[0132] As a result, each time a trial is completed, the adjustment result obtained in that trial is reflected in the first image 101. Therefore, the user can check the obtained result in real time even during the search for the best control parameter group.

[0133] [effect] As described above, the control unit 84 displays in the second image 102 each value of the control parameter group of an arbitrary adjustment result of the driving object 20 selected in the first image 101 and each value of the control parameter group when the best evaluation value is obtained, so that the user can compare each value of the control parameter group. In addition, the control unit 84 displays in the third image 103 the adjustment result of an arbitrary number of trials of the driving object 20 selected in the first image 101, so that the user can examine the contents that could not be confirmed by only comparing each value of the control parameter group shown in the second image 102. This allows the user to compare each value of the control parameter group and examine the cause of the difference between the adjustment result selected by the user and the best evaluation value. In addition, even if there are multiple best evaluation values, the user can select a more reasonable control parameter group from the viewpoint of control stability of the production apparatus 10 by comparing each value of the control parameter group.

[0134] (Modification) Although the control parameter adjustment support device according to one or more aspects has been described based on the above embodiment, the present disclosure is not limited to the above embodiment. As long as it does not deviate from the gist of the present disclosure, various modifications conceived by a person skilled in the art to the above embodiment and forms constructed by combining components in different embodiments may also be included within the scope of one or more aspects.

[0135] In the above embodiment, each component may be realized by a dedicated hardware or by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU or a processor reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory.

[0136] Furthermore, some or all of the functions of the control parameter adjustment support device according to the above-described embodiment may be realized by a processor such as a CPU executing a program.

[0137] Some or all of the components constituting each of the above devices may be composed of an IC card or a standalone module that can be attached to each device. The above IC card or module is a computer system composed of a microprocessor, ROM, RAM, etc. The above IC card or module may include a super multi-function LSI. The above IC card or module achieves its functions by the microprocessor operating according to a computer program. This IC card or module may be tamper-resistant. [Industrial Applicability]

[0138] INDUSTRIAL APPLICABILITY A control parameter adjustment support device according to the present disclosure is useful, for example, as a device for supporting the adjustment of each value of a group of control parameters to be set in a servo control device when the servo control device controls a servo motor. [Explanation of symbols]

[0139] 1. Production System 10 Production Equipment 20 Driven object 30 Servo motor 40 Servo control device 41 Servo information acquisition unit 42 Servo information output section 43 Storage section 44 Control section 50 Encoder 60 Sensors 70 Sensor information collection device 80 Control parameter adjustment support device 81 Operation section 82 Display section 83 Memory section 84 Control Unit 85 Setting section 86 Operation result acquisition part 87 Adjustment section 88 Adjustment result output section 89 Servo information output section 101 1st image 102 2nd image 102a Selection Area 103 3rd image 104 4th image 105 5th image 106 Additional adjustment buttons 107 Save button 108 Exit button 111 Back button 112 Save button 113 Next button

Claims

1. A control parameter adjustment support device that supports adjustment of each value of a group of control parameters to be set in a servo control device when the servo control device controls a servo motor, comprising: A display unit; a control unit that displays at least a first image, a second image, and a third image on one screen of the display unit; an operation unit that acquires a user's instruction regarding the first image, the first image shows a relationship between the number of trials and an evaluation value at each trial, the relationship being obtained in a search for an optimal value of a group of control parameters by repeating trials of control of the servo motor by the servo control device while changing each value of the group of control parameters; the second image includes each value of a group of control parameters used in a number of trials corresponding to an instruction acquired by the operation unit, and each value of the group of control parameters when a best evaluation value is obtained; the third image includes a waveform representing time series data of a position deviation, which is a difference between a target position and an observed position of an object servo-controlled by the servo motor in a trial number corresponding to the instruction acquired by the operation unit; Control parameter adjustment support device.

2. In the second image, a control parameter having a smallest or largest relative difference from a corresponding value in the control parameter group when the best evaluation value was obtained, among each value of the control parameter group used in the number of trials corresponding to the instruction acquired by the operation unit, is displayed at a specific display position in the second image or in a highlighted manner. The control parameter adjustment support device according to claim 1 .

3. In the second image, the control parameter groups are arranged and displayed in ascending or descending order of relative differences between each value of the control parameter group used in the number of trials corresponding to the instruction acquired by the operation unit and each corresponding value of the control parameter group when the best evaluation value is obtained. The control parameter adjustment support device according to claim 2.

4. In the second image, one or more pre-selected control parameters from a control parameter group used in a number of trials corresponding to the instruction acquired by the operation unit are displayed at a specific display position in the second image or in a highlighted manner. The control parameter adjustment support device according to claim 1 .

5. In the second image, only control parameters are displayed, the difference between each value of the control parameter group used in the number of trials corresponding to the instruction acquired by the operation unit and each corresponding value of the control parameter group when the best evaluation value is obtained exceeds a predetermined value. The control parameter adjustment support device according to claim 1 .

6. The control unit further displays, on the one screen, a fourth image for selecting a type of waveform to be displayed in the third image with the same time progression as the time-series data. The control parameter adjustment support device according to claim 1 .

7. the control unit, after one trial is completed in the search for the best control parameter group value, acquires the number of trials and an evaluation value for the trial, and updates the first image so that the acquired relationship between the number of trials and the evaluation value is additionally displayed on the first image. The control parameter adjustment support device according to any one of claims 1 to 6.

8. A control parameter adjustment support method for supporting adjustment of each value of a control parameter group set in a servo control device when the servo control device controls a servo motor, comprising: a control step of displaying at least the first image, the second image, and the third image on one screen on a display unit; and acquiring a user's instruction for the first image, the first image shows a relationship between the number of trials and an evaluation value at each trial, the relationship being obtained in a search for an optimal value of a group of control parameters by repeating trials of control of the servo motor by the servo control device while changing each value of the group of control parameters; the second image includes each value of a group of control parameters used in a number of trials corresponding to the instruction acquired in the operation step, and each value of the group of control parameters when a best evaluation value is obtained; the third image includes a waveform representing time series data of a position deviation, which is a difference between a target position and an observed position of an object servo-controlled by the servo motor in a trial number corresponding to the instruction acquired in the operation step; A method for assisting in tuning control parameters.

9. A program for causing a computer to execute the steps included in the control parameter adjustment support method according to claim 8.