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

Abstract

According to the present invention, a user fine-tuning a target object can have comprehensive support. A control parameter adjustment support device (80) comprises: a display unit (82); a control unit (84) that displays a first image (101) and a second image (110) on the display unit (82); and an operation unit (81) that acquires a first instruction given by a user for the first image (101) and a second instruction given by the user for the second image (110). The first image (101) includes a diagram showing a relationship between a trial count and an evaluation value for each trial count. The second image (110) includes a first icon (111a) indicating a plurality of operation conditions used for the trial count corresponding to the first instruction acquired by the operation unit (81). The second image (110) includes an operation execution button (113) for receiving an instruction to cause a servo motor (30) to execute an operation using one operation condition corresponding to the second instruction for selecting one operation condition from among the plurality of operation conditions.

Description

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

[0001] The present disclosure relates to a control parameter adjustment support device, a control parameter adjustment support method, and a program.

[0002] Currently, production equipment driven by servo motors is widely used in factories and other places. These servo motors drive the production equipment according to servo information, such as operating conditions, sent from a servo control device. A set of control parameters is set for these operating conditions, but in order to move the production equipment to its destination and stop it in a short time, the set of control parameters set for the operating conditions must be adjusted. Therefore, an adjustment device is used to adjust the set of control parameters set for the operating conditions.

[0003] There is known an adjustment device that, when adjusting a servo control device by changing a control parameter group set for one specific operating condition, sets, in the servo control device, a control parameter group used in an adjustment result that a user considers optimal (see, for example, Patent Document 1). This adjustment device visually displays the relationship between the adjustment time and the amount of overshoot, which is the adjustment result, to help the user, even if they do not have specialized knowledge or experience with servo control devices, select the control parameter group used in the optimal adjustment result from the relationship between the adjustment time and the amount of overshoot.

[0004] Japanese Patent No. 4964096

[0005] However, with the conventional adjustment device described above, it is not possible to recheck the operation of the production device using a specific operating condition that sets the control parameter group used for the adjustment. As a result, the user cannot recheck the operation of the production device, which creates a problem in that it is difficult for the user to receive support from the adjustment device when making fine adjustments to the target object.

[0006] Therefore, the present disclosure aims to provide a control parameter adjustment support device, a control parameter adjustment support method, and a program that allow a user to receive thorough support when making fine adjustments to an object.

[0007] To achieve the above object, a control parameter adjustment support device according to an embodiment of the present disclosure supports adjustment of each value of a group of control parameters for a plurality of operating conditions set in a servo control device when the servo control device controls a servo motor, and has the following configuration. Specifically, the control parameter adjustment support device according to an embodiment of the present disclosure includes a display unit, a control unit that displays a first image and a second image on the display unit, and an operation unit that acquires a first user instruction for the first image and a second user instruction for the second image. The first image includes a diagram showing a relationship between the number of trials and an evaluation value for each trial, obtained in a search for values ​​of the group of control parameters by repeatedly performing control trials of the servo control device on the servo motor while changing each value of the group of control parameters for the plurality of operating conditions. The second image includes a first icon that indicates the plurality of operating conditions used in the number of trials corresponding to the first instruction acquired by the operation unit. Furthermore, the second image includes an operation execution button that accepts an instruction to cause the servo motor to perform an operation using one operating condition corresponding to the second instruction that selects one operating condition from the plurality of operating conditions.

[0008] To achieve the above object, a control parameter adjustment support method according to one embodiment of the present disclosure is a control parameter adjustment support method executed by a computer to support adjustment of each value of a group of control parameters for a plurality of operating conditions set in a servo control device when the servo control device controls a servo motor, and includes the following method. Specifically, the control parameter adjustment support method according to one embodiment of the present disclosure includes a control step of displaying a first image and a second image on a display unit, and an acquisition step of acquiring a first instruction from a user for the first image and a second instruction from the user for the second image. The first image includes a diagram showing a relationship between the number of trials and an evaluation value for each trial, obtained in a search for values ​​of the group of control parameters by repeatedly performing control trials of the servo control device on the servo motor while changing each value of the group of control parameters for the plurality of operating conditions. The second image includes the plurality of operating conditions used in the number of trials corresponding to the first instruction acquired in the acquisition step. Furthermore, the second image includes an operation execution button that receives an instruction to cause the servo motor to perform an operation using the one operating condition corresponding to the second instruction that selects one operating condition from the plurality of operating conditions.

[0009] To achieve the above goal, a program according to one embodiment of the present disclosure causes the computer to execute the steps included in the above control parameter adjustment support method.

[0010] The present disclosure provides a control parameter adjustment support device, a control parameter adjustment support method, and a program that allow a user to receive thorough support from the support device when making fine adjustments to an object.

[0011] FIG. 1 is a diagram illustrating an overview of a production system according to an embodiment. FIG. 2 is a block diagram illustrating a functional configuration of the production system according to an embodiment. FIG. 3 is a sequence diagram illustrating a trial flow in which the production system according to an embodiment searches for optimal control parameters. FIG. 4 is a diagram illustrating a trial process in which the production system according to an embodiment searches for optimal control parameters while increasing operating conditions. FIG. 5A is a diagram illustrating an example of a display in which a control unit displays the adjustment result shown in FIG. 4 on a display unit. FIG. 5B is a diagram illustrating an example of a display (selection image) by the display unit after the operation check button shown in FIG. 5A is clicked. FIG. 6 is a diagram illustrating various display modes of the selection image shown in FIG. 5B. FIG. 7 is a diagram illustrating an example of a display of a selection image after the first icon shown in FIG. 6A is clicked. FIG. 8A is an enlarged view of waveform data shown in the waveform data display image of FIG. 5A or FIG. 5B. FIG. 8B is a diagram illustrating an example of a display in which waveform data measured under operating conditions corresponding to a second instruction is highlighted from the waveform data shown in FIG. 8A. FIG. 9A is a flowchart illustrating an example of a flow of operation check by the control parameter adjustment support device according to an embodiment when the selection image is set in the display mode shown in FIG. 6A. Fig. 9B is a flowchart showing an example of a flow of operation confirmation by the control parameter adjustment support device according to an embodiment when a selected image is set in the display mode shown in Fig. 6(b) or 6(c). Fig. 10 is a flowchart showing an example of a flow of waveform data display and operation confirmation by the control parameter adjustment support device according to an embodiment.

[0012] 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 group of control parameters for a plurality of operating conditions set in a servo control device when the servo control device controls a servo motor, and includes the following configuration. Specifically, the control parameter adjustment support device includes a display unit, a control unit that displays a first image and a second image on the display unit, and an operation unit that acquires a first user instruction for the first image and a second user instruction for the second image. The first image includes a diagram showing a relationship between the number of trials and an evaluation value for each trial, obtained in a search for values ​​of the group of control parameters by repeatedly performing control trials of the servo control device on the servo motor while changing each value of the group of control parameters for the plurality of operating conditions. The second image includes a first icon that indicates the plurality of operating conditions used in the number of trials corresponding to the first instruction acquired by the operation unit. The second image also includes an operation execution button that accepts an instruction to cause the servo motor to perform an operation using one operating condition corresponding to the second instruction that selects one operating condition from the plurality of operating conditions.

[0013] With this configuration, the user can actually operate the production equipment under the operating conditions of any adjustment result and check it. As a result, if multiple best evaluation values ​​are obtained through adjustment, the user can operate the production equipment under the operating conditions of the multiple best evaluation values ​​and determine which evaluation value is the best adjustment result from the perspective of abnormal noise from the production equipment, vibration of the production equipment, etc. Therefore, the user can receive thorough support from the control parameter adjustment support device.

[0014] Furthermore, 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 the second image further includes a second icon indicating an operating condition that was not used in the number of trials corresponding to the first instruction acquired by the operation unit.

[0015] This configuration allows the user to easily recognize which operating conditions were used and which were not used in any adjustment result, thereby enabling the user to receive more thorough support from the control parameter adjustment support device.

[0016] Furthermore, 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, and includes the following configuration: That is, the control unit further causes the display unit to display a third image, and the third image includes a diagram showing at least one waveform data measured under the plurality of operating conditions used in the number of trials corresponding to the first instruction acquired by the operation unit.

[0017] With this configuration, the user can check the waveform data of the operating conditions used in any adjustment result. As a result, by comparing the waveform data, the user does not need to operate the production equipment under all operating conditions, but can select and check the operating conditions under the necessary operating conditions. Therefore, the user can check the operating conditions in any adjustment result in a short time and receive more thorough support from the control parameter adjustment support device.

[0018] Furthermore, 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 third aspect, and includes the following configuration: That is, the second image further includes a third icon for selecting, for each of the plurality of operating conditions, whether or not to display the measured waveform data. When the second instruction is acquired by the operation unit, the control unit selects, in the third icon, to display the waveform data measured under the one operating condition corresponding to the second instruction, and highlights the waveform data measured under the one operating condition.

[0019] This configuration allows the user to easily check waveform data of operating conditions of interest in any adjustment result, thereby enabling the user to receive even more thorough support from the control parameter adjustment support device.

[0020] Furthermore, a control parameter adjustment support device according to a fifth aspect of the present disclosure is the control parameter adjustment support device according to the fourth aspect, wherein, when the second instruction for selecting one operating condition from the plurality of operating conditions is released, the control unit releases the highlighting of the waveform data measured under the one operating condition.

[0021] With this configuration, when the user has finished checking the waveform data under a specific operating condition, the highlighting of the waveform data can be canceled. By canceling the highlighting of the waveform data after checking, the user can easily check the waveform data under other operating conditions. Therefore, the user can receive even more thorough support from the control parameter adjustment support device.

[0022] 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 one of the first to fifth aspects, and includes the following configuration: When the second instruction for selecting one operating condition from the plurality of operating conditions is acquired by the operation unit, the control unit changes the operation execution button from a first display mode to a second display mode.

[0023] With this configuration, the user can select the operation execution button when selecting one of the operating conditions. This allows the user to check the operation of the production equipment under the selected operating conditions. Therefore, the user can receive even more thorough support from the control parameter adjustment support device.

[0024] Furthermore, 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, and includes the following configuration: That is, when the second instruction for selecting one operating condition from the plurality of operating conditions is not acquired by the operation unit, or when the second instruction for selecting one operating condition from the plurality of operating conditions is canceled by the operation unit, the control unit changes the operation execution button from the second display mode to the first display mode.

[0025] With this configuration, the user cannot select the operation execution button when the operating condition is canceled. As a result, when the user selects an operating condition, the control unit displays the operation execution button in a selectable display mode, so the user can clearly understand under which operating condition the production equipment is operating. Therefore, the user can receive even more thorough support from the control parameter adjustment support device.

[0026] Furthermore, a control parameter adjustment support method according to an eighth aspect of the present disclosure is a control parameter adjustment support method executed by a computer to support adjustment of each value of a group of control parameters for a plurality of operating conditions set in a servo control device when the servo control device controls a servo motor, and includes the following method. Specifically, the control method includes a control step of displaying a first image and a second image on a display unit, and an acquisition step of acquiring a first instruction from a user for the first image and a second instruction from the user for the second image. The first image includes a diagram showing a relationship between the number of trials and an evaluation value for each trial, obtained in a search for values ​​of the group of control parameters by repeatedly performing control trials of the servo control device on the servo motor while changing each value of the group of control parameters for the plurality of operating conditions. The second image includes the plurality of operating conditions used in the number of trials corresponding to the first instruction acquired in the acquisition step. Furthermore, the second image includes an operation execution button that receives an instruction to cause the servo motor to perform an operation using one operating condition corresponding to the second instruction that selects one operating condition from the plurality of operating conditions.

[0027] With this configuration, the user can actually operate the production equipment under the operating conditions of any adjustment result and check it. As a result, if multiple best evaluation values ​​are obtained through adjustment, the user can operate the production equipment under the operating conditions of the multiple best evaluation values ​​and determine which evaluation value is the best adjustment result from the perspective of abnormal noise from the production equipment, vibration of the production equipment, etc. Therefore, the user can receive thorough support from the control parameter adjustment support device.

[0028] A program according to a ninth aspect of the present disclosure causes the computer to execute steps included in the control parameter adjustment support method according to the eighth aspect.

[0029] With this configuration, the user can actually operate the production equipment under the operating conditions of any adjustment result and check it. As a result, if multiple best evaluation values ​​are obtained through adjustment, the user can operate the production equipment under the operating conditions of the multiple best evaluation values ​​and determine which evaluation value is the best adjustment result from the perspective of abnormal noise from the production equipment, vibration of the production equipment, etc. Therefore, the user can receive thorough support from the control parameter adjustment support device.

[0030] (Embodiments) Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. Note that each of the embodiments described below represents a specific example of the present disclosure. The numerical values, components, component placement and connection configurations, steps, step order, display examples, etc. shown in the following embodiments are examples and are not intended to limit the present disclosure. Therefore, among the components in the following embodiments, components that are not recited in the independent claims of the present disclosure will be described as optional components. Furthermore, each figure is not necessarily an exact illustration. In each figure, substantially identical components are assigned the same reference numerals, and duplicate explanations are omitted or simplified.

[0031] FIG. 1 is a diagram showing an overview of a production system 1 according to an embodiment.

[0032] 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 collection device 70, and a control parameter adjustment support device 80. The production device 10, the sensor information collection device 70, and the control parameter adjustment support device 80 are communicably connected to each other via communication lines. The communication realized by the communication lines may be wired communication or wireless communication.

[0033] The production device 10 is a device for producing an object, and may be, for example, any of various industrial devices such as a mounting device, a processing device, or a machining device 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.

[0034] The driven object 20 is an object that is driven by the servo motor 30. For example, if the production apparatus 10 is a mounting apparatus, the driven object 20 is a moving unit (head) that moves relative to a substrate (not shown) to mount electronic components on the substrate.

[0035] 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.

[0036] The servo control device 40 is, for example, a servo amplifier. The servo control device 40 controls the driving of the driven object 20 by driving (controlling) the servo motor 30 based on the servo information transmitted from the control parameter adjustment support device 80. The servo information is information including operating conditions and control parameters. The operating conditions are an operating pattern of the driven object 20 from the drive start position to the target position, and include, for example, the movement distance, maximum speed, acceleration time, and deceleration time of the driven object 20. The control parameters are used by the servo control device 40 to control the driven object 20. The control parameters are a parameter set consisting of a plurality of parameters, and include, for example, a position gain, a torque gain, and an integral gain. The control parameters are a parameter set that is set to realize the operating conditions.

[0037] The encoder 50 detects the amount of displacement of the servo motor 30 and generates encoder information indicating the detected amount of displacement of the servo motor 30. The encoder 50 transmits the generated encoder information to the control parameter adjustment support device 80.

[0038] 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 transmits the generated sensor information to the sensor information collecting device 70.

[0039] The sensor information collecting device 70 collects sensor information generated by the sensors 60. The sensor information collecting device 70 transmits the collected sensor information to the control parameter adjustment supporting device 80.

[0040] The control parameter adjustment support device 80 is a device that supports the adjustment of each value of a group of control parameters under a plurality of operating conditions that are 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 above-mentioned control parameters. 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. Furthermore, the control parameter adjustment support device 80 adjusts the control parameters under a plurality of operating conditions based on the received encoder information and sensor information, and transmits servo information including the adjusted control parameters to the production apparatus 10.

[0041] FIG. 2 is a block diagram showing the functional configuration of the production system 1 according to the embodiment.

[0042] As shown in FIG. 2, the servo control device 40 of the production device 10 includes, as functional components, a servo information acquisition unit 41, a servo information output unit 42, a storage unit 43, and a control unit 44.

[0043] The servo information acquisition unit 41 acquires (receives) 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.

[0044] The servo information output unit 42 outputs the servo information acquired by the servo information acquisition unit 41 to the control unit 44. The servo information output unit 42 is realized by, for example, a communication module or the like.

[0045] The storage unit 43 stores various types of information, programs, etc. The storage unit 43 is realized by, for example, a memory.

[0046] The control unit 44 drives 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. 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.

[0047] 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.

[0048] The operation unit 81 accepts input from the user. For example, the operation unit 81 accepts input of a target performance value, a set time, and a set number of times by the user. The target performance value is a target numerical value of an index related to the performance of the production apparatus 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 it 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 to 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, a mouse, etc.

[0049] The display unit 82 displays various types of information and is realized by, for example, a liquid crystal display.

[0050] The storage unit 83 stores various types of information, programs, etc. The storage unit 83 is realized by, for example, a memory, etc. The storage unit 83 may also store a trained model.

[0051] 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 programs stored in a memory, thereby performing various functions of the control parameter adjustment support device 80.

[0052] The setting unit 85 sets a target performance value, a set time, a set number of times, etc., 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.

[0053] 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 device 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.

[0054] The adjustment unit 87 sets one or more groups of operations to be adjusted as operation conditions of the object to be driven 20 when adjusting the control parameters. Each group of operations to be adjusted includes a plurality of operation conditions. The plurality of operation conditions include, for example, (a) an operation condition for moving the object to be driven 20 by 1 mm from the drive start position, (b) an operation condition for moving the object to be driven 20 by 5 mm from the drive start position, and (c) an operation condition for moving the object to be driven 20 by 10 mm from the drive start position.

[0055] Furthermore, the adjustment unit 87 adjusts the control parameters based on the operation results of the object to be driven 20 acquired by the operation result acquisition unit 86 when the object to be driven 20 is operated under the above-mentioned operating conditions. Next, the adjustment unit 87 adjusts the control parameters again based on the operation results 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 parameters. The adjustment unit 87 then repeatedly executes the above process to sequentially search for the best control parameters. That is, the adjustment unit 87 executes an algorithm that solves so-called "combinatorial optimization" to search for control parameters that can achieve a desired target performance value from among a large number of control parameters.

[0056] Instead of the above process, the adjustment unit 87 may adjust the control parameters based on the operation results of the driven object 20 acquired by the operation result acquisition unit 86 when the driven object 20 is operated under the above-mentioned operating conditions, using the trained model stored in the storage unit 83. The trained model is constructed, for example, by performing machine learning using 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 training data. A neural network, for example, is used to construct the theoretical model in machine learning.

[0057] The adjustment result output unit 88 outputs the operating conditions set by the adjustment unit 87 and the control parameters adjusted by the adjustment unit 87 .

[0058] The servo information output unit 89 outputs (transmits) the servo information including the operating conditions and control parameters output from the adjustment result output unit 88 to the production device 10 .

[0059] FIG. 3 is a sequence diagram showing the flow of a trial in which the production system 1 according to the embodiment searches for the best control parameters.

[0060] 3 , first, the adjustment unit 87 of the control parameter adjustment support device 80 sets initial control parameters and sets a first group of operations to be adjusted as initial operating conditions 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 operating conditions and control parameters (first group of operations to be adjusted) set by the adjustment unit 87 to the production apparatus 10 (step S12).

[0061] 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.

[0062] 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 driven object 20 based on at least one of the acquired encoder information and sensor information (step S15). The operation result of the driven object 20 includes, for example, the number of trials for adjusting the control parameters to sequentially search for the best control parameters, an evaluation value (settling time) for each trial, etc.

[0063] Then, the adjustment unit 87 of the control parameter adjustment support device 80 adjusts the control parameters to sequentially search for optimal control parameters based on the operation results of the driving object 20 acquired by the operation result acquisition unit 86. Furthermore, the adjustment unit 87 sets a second group of operations to be adjusted, which is different from the first group of operations to be adjusted, as operation conditions of the driving object 20. Note that, instead of the above processing, the adjustment unit 87 may adjust the control parameters based on the operation results of the driving object 20 acquired by the operation result acquisition unit 86, using a trained model stored in the storage unit 83.

[0064] Then, the servo information output unit 89 of the control parameter adjustment support device 80 outputs servo information including the control parameters adjusted by the adjustment unit 87 and the operation patterns (second operation group to be adjusted) set by the adjustment unit 87 to the production device 10 (step S12). Thereafter, steps S12 to S15 are repeatedly executed in the same manner as described above.

[0065] 4 is a diagram showing the process of trials in which the production system 1 according to the embodiment searches for optimal control parameters while increasing the number of operating conditions. In this diagram, the vertical axis represents the adjustment results (here, settling time) obtained in each trial when the operating conditions or control parameters are changed. Note that the adjustment results refer to the operation results of the driven object 20 acquired by the operation result acquisition unit 86 in the trial in which the production system 1 searches for optimal control parameters, and in this case, the settling time. This diagram also shows adjustment results obtained in trials in which the number of operating conditions used is the same but the combinations of operating conditions used are different.

[0066] In the trial to search for the best control parameters shown in FIG. 4, the maximum number of operating conditions to be adjusted for the driven object 20 is 80, but the maximum number of operating conditions to be adjusted may be more or less than 80.

[0067] In the trial to find the best control parameters shown in FIG. 4 , the adjustment unit 87 executes an algorithm called “multiple-condition optimization,” which gradually increases the number of operating conditions from optimizing the control parameters under a small number of operating conditions to optimizing the control parameters under a large number of operating conditions. Optimizing the control parameters for a large number of operating conditions from the beginning may result in failure to achieve the user’s desired target performance value (settling time). Therefore, by executing the multi-condition optimization algorithm, the number of operating conditions is gradually increased, from optimizing the control parameters under a small number of operating conditions, which is easy optimization, to optimizing the control parameters under a large number of operating conditions, which is difficult optimization, making it easier to achieve the user’s desired target performance value (settling time). A specific adjustment method is described below.

[0068] As shown in Fig. 4, the adjustment unit 87 first selects one operating condition from 80 operating conditions (80 types of operating conditions) and optimizes the control parameters. The adjustment unit 87 continues searching until optimization of the control parameters for one operating condition among the 80 types is completed. The adjustment result for one operating condition corresponds to the line located on the left side of the graph shown in Fig. 4.

[0069] Next, the adjustment unit 87 selects 10 operating conditions from the 80 operating conditions and optimizes the control parameters. The adjustment unit 87 performs optimization for the 10 operating conditions by referring to the control parameter values ​​obtained in the optimization of one operation. The adjustment unit 87 continues searching until optimization of the control parameters is completed for all combinations of the 10 operating conditions. The adjustment results for the 10 operating conditions correspond to the line located in the center of the graph shown in FIG. 4.

[0070] Similarly, the number of operating conditions used for adjustment is increased to 20, 40, 60, and 80, and the control parameters are optimized for all combinations. The adjustment results for 20, 40, 60, and 80 operating conditions correspond to the lines located on the right side of the graph shown in Figure 4.

[0071] The adjustment results for each operating condition are shown by a line in Fig. 4, but in reality, multiple adjustment results are connected together and shown by a line as in Fig. 4. In other words, instead of one adjustment result being shown by an entire line, multiple adjustment results are connected together and shown by a single line.

[0072] FIG. 5A is a diagram showing an example of a display in which the control unit 84 displays the adjustment results shown in FIG. 4 on the display unit 82. In FIG.

[0073] As shown in FIG. 5A, the control unit 84 displays a scatter plot display image 101, a control parameter display image 102, a waveform data display image 103, a waveform data selection image 104, a progress status display image 105, an additional adjustment button 106, a save button 107, an end button 108, and an operation confirmation button 109 on the same screen on the display unit 82.

[0074] The scatter diagram display image 101 displays a scatter diagram in which the horizontal axis represents the number of trials in which control parameters were adjusted to sequentially search for the best control parameters, and the vertical axis represents the provisional time for each trial. The provisional time for each trial is the evaluation value (settling time) for each trial. That is, each point displayed on the scatter diagram represents the adjustment result obtained in each trial described in FIG. 4 . The adjustment results of the driven object 20 shown on the scatter diagram are displayed as white circles. Furthermore, among the adjustment results of the driven object 20 shown on the scatter diagram, the adjustment result with the best evaluation value is displayed as a black diamond. Furthermore, when the user selects an adjustment result for an arbitrary number of trials for the selected driven object 20, the selected adjustment result is displayed as a diagonally shaded circle on the scatter diagram. The selected adjustment result is displayed as the current evaluation value. Furthermore, the solid line displayed on the scatter diagram represents 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. The scatter diagram display image 101 is an example of a first image in the embodiment.

[0075] The scatter diagram display image 101 also displays a table showing the provisional times (settling times) and the number of trials for the current and best evaluation values.

[0076] When the user selects one adjustment result from the adjustment results of the driving target object 20 shown in the scatter diagram, the operation unit 81 acquires the user's selection of one adjustment result as the user's first instruction for the scatter diagram display image 101 .

[0077] The control parameter display image 102 displays a table showing each value of the control parameter group used in the number of trials corresponding to the first instruction acquired by the operation unit 81 and each value of the control parameter group when the best evaluation value was obtained. That is, the control parameter display image 102 displays a table showing each value of the control parameter group of the adjustment result (current evaluation value) in an arbitrary number of trials for the driven object 20 selected by the user in the scatter plot display image 101 and each value of the control parameter group when the best evaluation value was obtained. As shown in Fig. 5A , 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.

[0078] The control unit 84 displays, on the control parameter display image 102, each value of the control parameter group resulting from the adjustment corresponding to the first instruction and each value of the control parameter group resulting from the best evaluation value, allowing the user to compare the values ​​of the control parameter group. This allows the user to compare the values ​​of the control parameter group and examine the cause of the difference between the adjustment result corresponding to the first instruction and the best evaluation value. Furthermore, even when there are multiple best evaluation values, the user can select more reasonable control parameters from the perspective of control stability of the production apparatus 10 by comparing the values ​​of the control parameter group.

[0079] The waveform data display image 103 displays waveform data representing time variations of various measurement values ​​obtained by measurement in the number of trials corresponding to the first instruction acquired by the operation unit 81. In FIG. 5A , a waveform representing time-series data of a position deviation, which is the difference between a target position and an observed position of an object servo-controlled by the servo motor 30, is displayed as the waveform data. That is, in the example shown in FIG. 5A , the waveform data display image 103 displays, for each operating condition, a waveform representing time-series data of a position deviation, which is the difference between a target position and an observed position of the object 20 servo-controlled by the servo motor 30, in the arbitrary adjustment result of the object 20 selected by the user in the scatter plot display image 101. As shown in FIG. 5A , for example, the waveform data display image 103 displays a graph represented by a solid line, with the horizontal axis representing elapsed time and the vertical axis representing an evaluation waveform. The value indicated by the evaluation waveform displayed on the vertical axis is a value representing a position deviation, which is the difference between a target position and an observed position of the object 20 servo-controlled by the servo motor 30. Specifically, the servo control device 40 controls the drive of the driven object 20 from the drive start position until the driven object 20 reaches an allowable position where it can be evaluated as having reached the target position, thereby obtaining a graph in which the evaluation waveform value changes to zero. Note that, when a different item is selected in the waveform data selection image 104 (described later), different waveform data or multiple waveform data may be displayed in the waveform data display image 103. For example, when the user selects the item for the position command speed in the waveform data selection image 104, the waveform data display image 103 may display a dashed graph with the elapsed time on the horizontal axis and the position command speed on the vertical axis. The value indicated by the position command speed displayed on the vertical axis indicates the moving speed of the driven object 20 servo-controlled by the servo motor 30. The waveform data display image 103 is also an example of a third image in the embodiment.

[0080] The control unit 84 displays the adjustment results for the number of trials corresponding to the first instruction in the waveform data display image 103, allowing the user to consider details that could not be confirmed by simply comparing the values ​​of the control parameter group shown in the control parameter display image 102. Specifically, by checking the waveform data shown in the waveform data display 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 fluctuations in the waveform data when multiple adjustment results with the same evaluation value are obtained.

[0081] The waveform data selection image 104 displays a table that allows the user to select the type of waveform to be displayed over the same time course as the time-series data in the waveform data display image 103. The user can select the graph to be displayed by clicking a check box in the left column of the table. The number of check boxes selected may be one or more.

[0082] This allows the user to select any waveform data, thereby allowing the user to display only the waveform data that is required on the waveform data display image 103.

[0083] The progress status display image 105 displays a table showing the progress status and the current adjustment conditions. The progress status table displays the time elapsed since the start of adjustment to obtain the best adjustment result and the number of attempts, which indicates how many adjustments have been completed relative to the number of attempts set by the user. The current adjustment conditions table also displays the movement direction, movement amount, maximum speed, and acceleration / deceleration time of the driven object 20 in the most recent attempt.

[0084] The additional adjustment button 106 is a button that, when clicked by the user, causes the display unit 82 to display an image (not shown) for adding operating conditions and control parameters.

[0085] When the user clicks the save button 107, an image (not shown) is displayed on the display unit 82 to save the adjustment results displayed in the scatter plot display image 101 and data such as the values ​​of the control parameters when the adjustment results were obtained.

[0086] The end button 108 is a button that, when clicked by the user, ends the support for adjusting the control parameters for the user.

[0087] When the user clicks the operation check button 109, the button causes the display unit 82 to display a screen (see FIG. 5B) that displays the operating conditions used in the adjustment results for the number of trials corresponding to the first instruction.

[0088] Next, a description will be given of an example of a screen displayed by the control unit 84 on the display unit 82 after the user clicks the operation confirmation button 109. Fig. 5B is a diagram showing an example of a display (selection image 110) by the display unit 82 after the operation confirmation button 109 shown in Fig. 5A is clicked. Fig. 6 is a diagram showing various display modes of the selection image 110 shown in Fig. 5B. That is, Figs. 6(a) to 6(c) are diagrams showing display examples of the selection image 110 displayed in different display modes.

[0089] As shown in Fig. 5B, after operation confirmation button 109 displayed in Fig. 5A is clicked, control unit 84 displays selection image 110 on display unit 82. Note that control unit 84 may display selection image 110 on the same screen as the display image of Fig. 5A, or may display it on a screen separate from the display image of Fig. 5A.

[0090] The selection image 110 is an image that displays the operating conditions corresponding to the adjustment result in the number of trials corresponding to the first instruction. Note that when the selection image 110 is displayed before the user selects the adjustment result in an arbitrary number of trials for the driven object 20 selected in the scatter diagram display image 101, that is, when the control unit 84 displays the selection image 110 on the display unit 82 before the operation unit 81 acquires the first instruction, the operating conditions displayed in the selection image 110 may be, for example, the operating conditions corresponding to the first measured adjustment result or the operating conditions corresponding to the last measured adjustment result.

[0091] The selection image 110 includes a first icon 111a, a second icon 111b, a third icon 112, an action execution button 113, a fourth icon 114, a scroll bar 115, and an end button 116. The selection image 110 is an example of a second image in the embodiment. In the following, the first icon 111a and the like will be described using Figures 6(a) to 6(c).

[0092] As shown in FIGS. 6A to 6C, the first icons 111a are icons, such as buttons, that display various operating conditions used in the adjustment results for the number of trials corresponding to the first instruction. The first icons 111a are also buttons that the user can click. The control unit 84 displays the first icons 111a in a selectable display mode in the selection image 110. The display mode of the first icons 111a shown in FIGS. 6A to 6C is referred to as a normal display. When the user clicks one of the first icons 111a, the operation unit 81 acquires the selection of one operating condition as the user's second instruction for the selection image 110.

[0093] 6(b) and 6(c), the second icon 111b is an icon, such as a button, that displays various operating conditions that were not used in the adjustment results for the number of trials corresponding to the first instruction. The second icon 111b is a button that cannot be clicked by the user. The control unit 84 displays the second icon 111b in the selection image 110 in an unselectable display mode.

[0094] As shown in Fig. 6A, the second icon 111b is not displayed in the selection image 110. In other words, Fig. 6A shows a display mode in which the various operating conditions used in the number of adjustment attempts corresponding to the first instruction are displayed, and the various operating conditions that were not used are not displayed. This makes it easier for the user to recognize the operating conditions used in any adjustment result.

[0095] On the other hand, as shown in FIGS. 6B and 6C , the first icon 111a and the second icon 111b are displayed within the selection image 110. That is, FIGS. 6B and 6C are diagrams showing display modes for displaying various operating conditions used in the adjustment number of trials corresponding to the first instruction and various operating conditions not used. Furthermore, the first icon 111a and the second icon 111b are displayed in different display modes. Specifically, the first icon 111a is displayed dark as a normal display, while the second icon 111b is displayed lightly (grayed out) as a non-normal display. The difference in display mode between the first icon 111a and the second icon 111b is used to clearly indicate whether the user can select each icon. For example, when a certain operating condition is displayed as the first icon 111a, the user can select the operating condition displayed as the first icon 111a. On the other hand, if another operating condition is displayed as the second icon 111b, the user cannot select the operating condition displayed as the second icon 111b, which makes it easier for the user to recognize which operating conditions were used and which were not used in an arbitrary adjustment result.

[0096] As shown in FIGS. 6A to 6C , the third icon 112 is an icon, e.g., a checkbox, for selecting whether or not to display waveform data measured under each operating condition in the waveform data display image 103. Specifically, when the user checks the third icon 112, the control unit 84 displays, in the waveform data display image 103, waveform data measured under the operating condition corresponding to the checked third icon 112. On the other hand, when the user unchecks the third icon 112, the control unit 84 does not display, in the waveform data display image 103, waveform data measured under the operating condition corresponding to the unchecked third icon 112. The control unit 84 may also check the third icon 112 when changing the display mode of the first icon 111a from normal display to inverted black and white display. This allows the user to check the waveform data under the operating conditions used in any adjustment result. Therefore, by comparing the waveform data, the user does not need to operate the production device 10 under all operating conditions, but can select and reject operating conditions and operate the production device 10 under the required operating conditions to check.

[0097] 6B, the third icon 112 corresponding to the second icon 111b does not have to be displayed in the selection image 110. Because waveform data is not measured under the operating conditions displayed in the second icon 111b, the third icon 112 does not have to be displayed in the selection image 110. This makes it easier for the user to visually recognize whether or not waveform data can be selected when selecting whether or not to display waveform data in the waveform data display image 103.

[0098] 6(c), the third icon 112 corresponding to the second icon 111b may be displayed in the selection image 110. Furthermore, the third icon 112 corresponding to the second icon 111b may be displayed in a dim (grayed out) state, similar to the second icon 111b. This allows the user to easily visually recognize whether or not the waveform data can be selected when selecting whether or not to display the waveform data in the waveform data display image 103.

[0099] Also, in the initial state, when the selection image 110 is displayed, the third icons 112 corresponding to all the operating conditions for which waveform data was measured may be checked. In other words, in the initial state, the control unit 84 may display, in the waveform data display image 103, all the waveform data measured in the adjustment results for the number of trials corresponding to the first instruction.

[0100] The operation execution button 113 is a button that accepts an instruction to cause the servo motor 30 (production apparatus 10) to perform an operation using one operation condition corresponding to the second instruction. In the example shown in FIGS. 6A to 6C, no operation condition is selected, and therefore the operation execution button 113 is not in a state where it accepts an instruction to cause the servo motor 30 (production apparatus 10) to perform an operation. When it is not in a state where it accepts an operation, the operation execution button 113 is displayed dimly (grayed out) like the second icon 111b. When it is not in a state where it accepts an operation, the operation execution button 113 is displayed in an unselectable display mode like the second icon 111b. This display mode of the operation execution button 113 is referred to as a first display mode. The case where the operation execution button 113 is in a state where it accepts an instruction to cause the servo motor 30 (production apparatus 10) to perform an operation will be described later.

[0101] In the example shown in FIGS. 6A to 6C, the fourth icon 114 is an icon for operating the third icons 112 collectively, and includes, for example, a check box. Specifically, when the user checks the check box labeled "Check All" on the right, the control unit 84 checks the third icon 112 corresponding to the first icon 111a. In this case, the control unit 84 does not check the third icon 112 corresponding to the second icon 111b for which waveform data has not been measured. The control unit 84 checks the third icon 112 corresponding to the operating conditions used in the adjustment results for the number of trials corresponding to the first instruction, and displays the waveform data in the waveform data display image 103. Furthermore, when the user checks the check box labeled "Clear All" on the right, the control unit 84 unchecks all the third icons 112. However, if the operation unit 81 has previously acquired a second instruction and the user has checked the checkbox labeled "Clear all" on the right, the control unit 84 may not uncheck the third icon 112 corresponding to one operating condition acquired by the operation unit 81 as the second instruction.

[0102] In the examples shown in FIGS. 6A to 6C , the scroll bar 115 is an operation tool for moving the display area of ​​the selected image 110. For example, when the user operates the scroll bar 115, the control unit 84 moves the display areas of the first icon 111a, the second icon 111b, and the third icon 112 in accordance with the user's operation. Specifically, as shown in FIGS. 6B and 6C , if the first icon 111a, the second icon 111b, and the third icon 112 are not simultaneously displayed in the selected image 110, when the user moves the scroll bar 115 downward, the control unit 84 moves the display areas of the first icon 111a, the second icon 111b, and the third icon 112 downward in accordance with the user's operation. This allows the user to check the first icon 111a, the second icon 111b, and the third icon 112 displayed in the selected image 110.

[0103] The end button 116 is a button that accepts an instruction from the user to end the display of the selected image 110 on the display unit 82. In the example shown in Figures 6(a) to 6(c), the end button 116 is displayed as an icon resembling an "x" within the selected image 110. When the end button 116 accepts an instruction from the user, the control unit 84 ends the display of the selected image 110 on the display unit 82.

[0104] In addition, the user may set the display mode of Figures 6(a) to 6(c) in advance, and the control unit 84 may display any one of the display modes of Figures 6(a) to 6(c) on the display unit 82.

[0105] Fig. 7 is a diagram showing an example of the display of the selection image 110 after the first icon 111a shown in Fig. 6(a) is clicked. Fig. 7 shows an example of the display after the user clicks the first icon 111a that displays the operation condition 4, for example.

[0106] As shown in FIG. 7 , after the operation unit 81 acquires the selection of operation condition 4 as the user's second instruction for the selection image 110, the control unit 84 changes the display mode of the first icon 111a displaying operation condition 4 from a normal display to a black-and-white inverted display and changes the display mode of the action execution button 113 from a light display to a dark display. Such a display mode of the first icon 111a displayed in a black-and-white inverted display is referred to as a black-and-white inverted display, and the display mode in which the action execution button 113 is displayed dark is referred to as a second display mode. When the display mode of the action execution button 113 is the second display mode, the action execution button 113 is in a state where it accepts an instruction to cause the servo motor 30 (production apparatus 10) to execute the operation condition corresponding to the second instruction. When the user clicks the action execution button 113, the action execution button 113 accepts an instruction to cause the servo motor 30 (production apparatus 10) to execute the operation condition corresponding to the second instruction. The control unit 84 then issues an instruction to cause the servo motor 30 (production apparatus 10) to execute the operation condition corresponding to the second instruction. The servo motor 30 (production apparatus 10) then operates based on the operating conditions corresponding to the second instruction. Therefore, the user can actually operate the production apparatus 10 under the operating conditions for any adjustment result and check them. As a result, when multiple best evaluation values ​​are obtained through adjustment, the user can operate the production apparatus 10 under the operating conditions for the multiple best evaluation values ​​and determine which evaluation value is the best adjustment result from the perspective of abnormal noise from the production apparatus 10, vibration of the production apparatus 10, etc.

[0107] When the user clicks on the first icon 111a that is displayed in inverted black and white, the control unit 84 changes the display mode of the first icon 111a from the inverted black and white display to the normal display. Furthermore, when the display mode of the first icon 111a that displays operating condition 4 is the inverted black and white display, if the user clicks on operating condition 2, for example, the control unit 84 changes the display mode of the first icon 111a that displays operating condition 2 from the normal display to the inverted black and white display, and changes the display mode of the first icon 111a that displays operating condition 4 from the inverted black and white display to the normal display. At this time, the operation execution button 113 enters a state in which it can receive an instruction to cause the servo motor 30 (production apparatus 10) to execute operating condition 2.

[0108] Note that, although the above describes an example of the display of the selection image 110 in the display mode of Figure 6(a), the same applies to the display examples of the selection image 110 in the display modes of Figure 6(b) and Figure 6(c).

[0109] Fig. 8A is an enlarged view of the waveform data shown in the waveform data display image 103 of Fig. 5A or 5B. Fig. 8A is a graph showing waveform data measured under operating conditions in which the third icon 112 is checked.

[0110] 8A is a diagram in which a plurality of waveform data are displayed on a single graph. In FIG. 8A, the same line represents the plurality of waveform data, but in an actual display on the control parameter adjustment support device 80, each waveform data is displayed with a line of a different color. Furthermore, in an actual display on the control parameter adjustment support device 80, each waveform data may be displayed not only with a solid line but also with a different type of line, such as a dotted line.

[0111] Fig. 8B is a diagram showing a display example in which, of the waveform data shown in Fig. 8A, waveform data measured under operating conditions corresponding to the second instruction is highlighted. For example, Fig. 8B is a diagram showing a display example of waveform data after the user clicks one of the first icons 111a, as in Fig. 7. In other words, Fig. 8B is a diagram showing a display example of waveform data when the control unit 84 changes the display mode of one of the first icons 111a from normal display to inverted black and white display.

[0112] 8B , the control unit 84 displays only the waveform data measured under the operating conditions corresponding to one first icon 111a in a darker color, and displays the remaining waveform data in a lighter color (grayed out). Changing the line density of the waveform data displayed by the control unit 84 in this manner is referred to as highlighting the waveform data. This makes it easier for the user to check the waveform data for an operating condition of interest in the results of any adjustment. Note that if the user clicks on the first icon 111a for another operating condition, the control unit 84 highlights the waveform data measured under that other operating condition.

[0113] Furthermore, when the user clicks on the first icon 111a displayed in inverted black and white, the control unit 84 changes the display mode of the first icon 111a from inverted black and white to normal display and cancels the highlighting of the waveform data. In other words, when the user clicks on the first icon 111a displayed in inverted black and white, the control unit 84 changes the display mode of the waveform data displayed in the waveform data display image 103 from FIG. 8B to FIG. 8A. This allows the user to cancel the highlighting of the waveform data when they have finished checking the waveform data under specific operating conditions. By canceling the highlighting of the waveform data whose checking has been completed, the user can more easily check the waveform data under other operating conditions.

[0114] 9A is a flowchart showing an example of the flow of operation confirmation by the control parameter adjustment support device 80 according to the embodiment when the selection image 110 is set to the display mode shown in FIG. 6A. Operation confirmation means causing the servo motor 30 (production apparatus 10) to perform an operation based on one operating condition. Note that, before step S10 shown in FIG. 9A, a step in which the operation unit 81 accepts selection of the display mode shown in FIG. 6A is included.

[0115] First, the control unit 84 displays the scatter diagram display image 101, the control parameter display image 102, and the waveform data display image 103 on the display unit 82 (step S10). Specifically, the control unit 84 displays the display image shown in FIG. 5A on the display unit 82.

[0116] Next, the operation unit 81 accepts the user's selection of the operation confirmation button 109 (step S11). Then, the control unit 84 displays a selection image 110 on the display unit 82 (step S12). Note that the control unit 84 displays, for example, the operating conditions used in the first measured adjustment result or the last measured adjustment condition as the initial state in the selection image 110.

[0117] Next, when the user clicks on any point shown in the scatter diagram display image 101, the operation unit 81 accepts selection of any adjustment result shown in the scatter diagram display image 101 (first instruction) (step S13). Then, the control unit 84 displays the operating conditions used in the adjustment result corresponding to the first instruction in the selection image 110 (step S14). Note that step S13 may be performed before step S11. In this case, in step S14, the control unit 84 displays the operating conditions used in the adjustment result corresponding to the first instruction in the selection image 110 from the beginning.

[0118] Next, when the user clicks one of the operating conditions shown in the selection image 110, the operation unit 81 accepts the user's selection of the operating condition (second instruction) (step S15). The control unit 84 then changes the display mode of the first icon 111a corresponding to the selected operating condition from normal display to inverted black and white. The control unit 84 also changes the display mode of the operation execution button 113 from the first display mode to the second display mode. This puts the operation execution button 113 into a state where it can accept an instruction to cause the servo motor 30 (production apparatus 10) to execute the selected operating condition.

[0119] Next, when the user clicks the operation execution button 113, the operation execution button 113 accepts an instruction to cause the servo motor 30 (production apparatus 10) to perform an operation using the selected operating conditions (step S16). The control unit 84 then instructs the servo motor 30 (production apparatus 10) to perform the selected operating conditions. The servo motor 30 (production apparatus 10) then performs an operation based on the selected operating conditions (step S17).

[0120] Next, the control unit 84 determines whether the operation unit 81 has accepted the selection of another operation condition (step S18). Specifically, the control unit 84 determines whether the user has clicked on another operation condition.

[0121] When the control unit 84 determines that the operation unit 81 has accepted the selection of another operating condition (Yes in step S18), the operation execution button 113 enters a state in which it can accept an instruction to cause the servo motor 30 (production device 10) to execute another operating condition (step S15). Thereafter, the same processes from step S16 to step S18 are performed for the other operating condition.

[0122] When the control unit 84 determines that the operation unit 81 has not accepted the selection of another operating condition (No in step S18), the control unit 84 determines whether the operation unit 81 has accepted the selection of another adjustment result (step S19). Specifically, the control unit 84 determines whether the user has selected another adjustment result shown in the scatter diagram display image 101.

[0123] When the control unit 84 determines that the operation unit 81 has accepted the selection of another adjustment result (Yes in step S19), the control unit 84 accepts the selection of another adjustment result as a first instruction from the user and displays the operating conditions used in the other adjustment result corresponding to the first instruction in the selection image 110 (step S14). Thereafter, the same processes from step S15 to step S18 are performed on the other adjustment result.

[0124] When the control unit 84 determines that the operation unit 81 has not accepted the selection of another adjustment result (No in step S19 ), the control unit 84 ends the operation check by the control parameter adjustment support device 80 .

[0125] This allows the user to actually operate the production device 10 under the operating conditions for any adjustment result and check it. When multiple best evaluation values ​​are obtained through adjustment, the user can operate the production device 10 under the operating conditions for the multiple best evaluation values ​​and determine which evaluation value is the best adjustment result from the perspective of abnormal noise from the production device 10, vibration of the production device 10, etc.

[0126] Fig. 9B is a flowchart showing an example of the flow of operation confirmation by the control parameter adjustment support device 80 according to the embodiment when the selection image 110 is set to the display mode shown in Fig. 6(b) or Fig. 6(c). Note that, before step S10 shown in Fig. 9B, a step in which the operation unit 81 accepts selection of the display mode shown in Fig. 6(b) or Fig. 6(c) is included.

[0127] Steps S10 to S13 and steps S16 to S19 shown in Fig. 9B are the same as or substantially the same as steps S10 to S13 and steps S16 to S19 shown in Fig. 9A, and therefore will not be described. The following description will focus on steps S14a and S15a, which are different from steps S10 to S13 and steps S16 to S19 shown in Fig. 9A.

[0128] After the operation unit 81 receives the first instruction in step S13, the control unit 84 displays all of the operating conditions of the adjustment result corresponding to the first instruction in the selection image 110 (step S14a). Specifically, as shown in Fig. 6B and Fig. 6C, the control unit 84 displays the operating conditions used in the adjustment result corresponding to the first instruction as first icons 111a, and displays the operating conditions not used in the adjustment result corresponding to the first instruction as second icons 111b.

[0129] Next, when the user clicks one of the first icons 111a displayed in the selection image 110, the operation unit 81 accepts the user's selection of one operation condition (second instruction) (step S15a). Then, similar to step S15 in FIG. 9A , the display mode of the first icon 111a corresponding to the selected operation condition is changed from normal display to inverted black and white display. The control unit 84 also changes the display mode of the operation execution button 113 from the first display mode to the second display mode. This puts the operation execution button 113 into a state where it can accept an instruction to cause the servo motor 30 (production apparatus 10) to execute the selected operation condition.

[0130] By simultaneously displaying the first icon 111a and the second icon 111b, the user can easily recognize the operating conditions that were used and the operating conditions that were not used in the arbitrary adjustment result.

[0131] 10 is a flowchart showing an example of a flow of displaying waveform data and checking operation by the control parameter adjustment support device 80 according to the embodiment. Note that in Fig. 10, prior to step S20, the user selects one of the display modes shown in Fig. 6(a) to 6(c), and in step S20, the control unit 84 displays the selection image 110 in the previously selected display mode.

[0132] After the operation unit 81 receives the first instruction in step S13, the control unit 84 displays the operating conditions used in the adjustment result corresponding to the first instruction in the selection image 110 (step S20). Then, the control unit 84 displays the waveform data measured under each operating condition in the waveform data display image 103 (step S21). Note that the order of steps S20 and S21 is not limited to the above description. Step S21 may be performed before step S20, or steps S20 and S21 may be performed simultaneously.

[0133] Next, the control unit 84 determines whether the operation unit 81 has received a user's selection of one of the operation conditions (a second instruction) from the operation conditions (step S22). Specifically, the control unit 84 determines whether the user has clicked one of the first icons 111a.

[0134] If the control unit 84 determines that the operation unit 81 has not received the second instruction (No in step S22), the control unit 84 performs the judgment in step S22 until it determines that the operation unit 81 has received the second instruction.

[0135] If the control unit 84 determines that the operation unit 81 has received the second instruction (Yes in step S22), the control unit 84 changes the display mode of the selected first icon 111a from normal display to inverted black and white display, and changes the display mode of the action execution button 113 from the first display mode to the second display mode (step S23).

[0136] Next, the control unit 84 determines whether or not waveform data exists for the selected operating condition (step S24). That is, the control unit 84 determines whether or not waveform data has been measured for the selected operating condition.

[0137] When the control unit 84 determines that waveform data has been measured (Yes in step S24), the control unit 84 highlights the measured waveform data (step S25). Specifically, the control unit 84 changes the display mode of the waveform data displayed on the waveform data display image 103 from Fig. 8A to Fig. 8B.

[0138] When the control unit 84 determines that waveform data has not been measured (No in step S24), the control unit 84 does not change the display mode of the waveform data displayed in the waveform data display image 103. Specifically, the control unit 84 maintains the display mode of the waveform data displayed in the waveform data display image 103 as shown in FIG. 8A .

[0139] After the control unit 84 has performed the process of step S25 or has performed the process of not changing the display mode of the waveform data, the control unit 84 determines whether or not the operation execution button 113 has received an instruction to cause the servo motor 30 (production device 10) to perform an operation using the selected operating conditions (step S26). Specifically, the control unit 84 determines whether or not the user has clicked the operation execution button 113.

[0140] When the control unit 84 determines that the operation execution button 113 has received an instruction (Yes in step S26), the control unit 84 instructs the servo motor 30 (production device 10) to execute the operation using the selected operating conditions. Then, the servo motor 30 (production device 10) executes the operation using the selected operating conditions (step S27).

[0141] When the control unit 84 determines that the operation execution button 113 has not received an instruction (Yes in step S26), the control unit 84 does not instruct the servo motor 30 (production apparatus 10) to execute an operation using the selected operating conditions. The servo motor 30 (production apparatus 10) does not execute an operation using the selected operating conditions.

[0142] After the control unit 84 has performed the process of step S27 or has performed the process of not issuing an instruction to perform an operation, the control unit 84 determines whether the operation unit 81 has received an instruction to end the display of the operation conditions (step S28). Specifically, the control unit 84 determines whether the user has clicked the end button 116.

[0143] When the control unit 84 determines that the operation unit 81 has not received an instruction to end the display of the operating conditions (Yes in step S28), the control unit 84 determines whether the operation unit 81 has received an instruction to deselect the selected operating condition (step S29). Specifically, the control unit 84 determines whether the user has clicked on the first icon 111a displayed in reverse video.

[0144] If the control unit 84 determines that the operation unit 81 has received an instruction to deselect (Yes in step S29), the control unit 84 changes the display mode of the operation execution button 113 from the second display mode to the first display mode and cancels the highlighting of the waveform data (step S30).

[0145] When the control unit 84 determines that the operation unit 81 has not received an instruction to deselect (No in step S29), the control unit 84 maintains the display mode of the action execution button 113 in the second display mode.

[0146] After the control unit 84 has performed the process of step S30 or has performed the process of maintaining the display state of the operation execution button 113, the control unit 84 determines whether or not the operation unit 81 has accepted the selection of one operation condition (second instruction) from among the operation conditions (step S22). Thereafter, the same processes from step S22 to step S28 are performed.

[0147] If the control unit 84 determines that the operation unit 81 has received an instruction to end the display of the operating conditions (Yes in step S28), the control unit 84 ends the display of the selection image 110 on the display unit 82 (step S31).

[0148] This allows the user to check the waveform data of the operating conditions used in any adjustment result. Therefore, by comparing the waveform data, the user does not need to operate the production device under all operating conditions, but can select and check the operating conditions by operating the production device 10 under the operating conditions that the user wants to check.

[0149] Furthermore, the user can easily check waveform data of operating conditions of interest in any adjustment result.

[0150] Furthermore, when the user has finished checking the waveform data under a particular operating condition, the user can cancel the highlighting of the waveform data, which makes it easier for the user to check the waveform data under other operating conditions.

[0151] Furthermore, when the user selects one of the operating conditions, the user can select the operation execution button 113. This allows the user to check the operation of the production device 10 under the selected operating condition.

[0152] Furthermore, when an operating condition is cancelled, the user cannot select the operation execution button 113. As a result, when the user selects an operating condition, the control unit 84 displays the operation execution button 113 in a selectable display mode, so that the user can clearly understand under which operating condition the production apparatus 10 is operating.

[0153] (Modifications) While the control parameter adjustment support device according to one or more aspects has been described above based on the above-mentioned embodiment, the present disclosure is not limited to the above-mentioned embodiment. As long as it does not deviate from the spirit of the present disclosure, various modifications conceivable by a person skilled in the art to the above-mentioned embodiment or configurations constructed by combining components of different embodiments may also be included within the scope of one or more aspects.

[0154] In the above-described embodiments, each component may be configured with dedicated hardware, or may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU (Central Processing Unit) or a processor reading and executing a software program recorded on a recording medium such as a hard disk or semiconductor memory.

[0155] 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.

[0156] Some or all of the components constituting each of the above devices may be configured as an IC card or a standalone module that can be attached to or detached from each device. The IC card or module is a computer system composed of a microprocessor, ROM, RAM, etc. The IC card or module may include a super multi-function LSI. The IC card or module achieves its functions when the microprocessor operates in accordance with a computer program. The IC card or module may be tamper-resistant.

[0157] The control parameter adjustment support device, control parameter adjustment support method, and program according to the present disclosure are useful, for example, as a device, control parameter adjustment support method, and program that supports the adjustment of each value of a group of control parameters under multiple operating conditions set in a servo control device when the servo control device controls a servo motor.

[0158] REFERENCE SIGNS LIST 1 Production system 10 Production device 20 Drive object 30 Servo motor 40 Servo control device 41 Servo information acquisition unit 42 Servo information output unit 43 Memory unit 44 Control unit 50 Encoder 60 Sensor 70 Sensor information collection device 80 Control parameter adjustment support device 81 Operation unit 82 Display unit 83 Memory unit 84 Control unit 85 Setting unit 86 Operation result acquisition unit 87 Adjustment unit 88 Adjustment result output unit 89 Servo information output unit 101 Scatter diagram display image 102 Control parameter display image 103 Waveform data display image 104 Waveform data selection image 105 Progress status display image 106 Additional adjustment button 107 Save button 108 Exit button 109 Operation confirmation button 110 Selection image 111a First icon 111b Second icon 112 Third icon 113: Action execution button 114 Fourth icon 115: Scroll bar 116: Exit button

Claims

1. A control parameter adjustment support device that supports adjustment of each value of a group of control parameters for a plurality of operating conditions set in a servo control device when the servo control device controls a servo motor, comprising: a display unit; a control unit that displays a first image and a second image on the display unit; and an operation unit that acquires a first instruction from a user for the first image and a second instruction from the user for the second image, wherein the first image includes a diagram showing the relationship between the number of trials and an evaluation value for each trial number, obtained in a search for values ​​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 for the plurality of operating conditions, the second image includes a first icon showing the plurality of operating conditions used in the number of trials corresponding to the first instruction acquired by the operation unit, and the second image includes an operation execution button that receives an instruction to cause the servo motor to perform an operation using the one operating condition corresponding to the second instruction to select one operating condition from the plurality of operating conditions.

2. A control parameter adjustment support device as described in claim 1, wherein the second image further includes a second icon indicating an operating condition that was not used in the number of trials corresponding to the first instruction obtained by the operation unit.

3. The control unit further causes a third image to be displayed on the display unit, the third image including a diagram showing at least one waveform data measured under the plurality of operating conditions used in a number of trials corresponding to the first instruction acquired by the operation unit. The control parameter adjustment support device of claim 1 or 2.

4. The control parameter adjustment support device of claim 3, wherein the second image further includes a third icon for selecting whether or not to display the measured waveform data for each of the multiple operating conditions, and when the second instruction is acquired by the operation unit, the control unit selects in the third icon to display the waveform data measured under the one operating condition corresponding to the second instruction, and highlights the waveform data measured under the one operating condition.

5. The control parameter adjustment support device of claim 4, wherein when the second instruction for selecting one operating condition from the plurality of operating conditions is released, the control unit releases the highlighting of the waveform data measured under the one operating condition.

6. The control parameter adjustment support device of claim 1, wherein when the second instruction for selecting one operating condition from the plurality of operating conditions is acquired by the operation unit, the control unit changes the operation execution button from a first display mode to a second display mode.

7. The control parameter adjustment support device of claim 1, wherein when the second instruction for selecting one operating condition from the plurality of operating conditions is not acquired by the operation unit, or when the release of the second instruction for selecting one operating condition from the plurality of operating conditions is acquired by the operation unit, the control unit changes the operation execution button from the second display mode to the first display mode.

8. A control parameter adjustment support method executed by a computer to support adjustment of each value of a group of control parameters for a plurality of operating conditions set in a servo control device when the servo control device controls a servo motor, comprising: a control step of displaying a first image and a second image on a display unit; and an acquisition step of acquiring a first instruction from a user for the first image and a second instruction from the user for the second image, wherein the first image includes a diagram showing the relationship between the number of trials and an evaluation value for each trial, obtained in a search for values ​​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 for the plurality of operating conditions, wherein the second image includes the plurality of operating conditions used in the number of trials corresponding to the first instruction acquired in the acquisition step, and wherein the second image includes an operation execution button that receives an instruction to cause the servo motor to perform an operation using the one operating condition corresponding to the second instruction which selects one operating condition from the plurality of operating conditions.

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

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