Adjustment assistance device, adjustment assistance method, and program

Abstract

Provided are an adjustment assistance device, an adjustment assistance method, and a program that make it possible to provide a user with thorough assistance when the user is making fine adjustments to a production device. An adjustment assistance device (80) comprises a display control unit (841), an acquisition unit (842), and a data generation unit (843). The display control unit (841) displays an image related to adjustment at a display unit (82). The acquisition unit (842) receives selections from a plurality of evaluation indices that are provided for a plurality of action conditions for the action of a driven object (20) that is moved by a servo motor (30) and also receives input of target values that are provided for a respective plurality of action conditions and correspond to the evaluation indices for which selections were received. The data generation unit (843) generates index data that indicates the evaluation indices and the target values acquired by the acquisition unit (842) for the respective plurality of action conditions.

Description

Adjustment support device, adjustment support method, and program

[0001] The present disclosure relates to an adjustment assistance device, an adjustment assistance method, and a program, and in particular to an adjustment assistance device, an adjustment assistance method, and a program that assist in the adjustment of a group of control parameters required for a servo control device when the servo control device controls a servo motor.

[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 support device is used to adjust the set of control parameters set for the operating conditions.

[0003] An adjustment support device is known that, when adjusting the group of control parameters, calculates an evaluation value from both positioning data and sound analysis data, optimizes the group of control parameters so that the evaluation value satisfies a required level, and sets the optimized group of control parameters in a servo control device (see, for example, Patent Document 1).

[0004] Japanese Patent No. 7105882

[0005] However, the conventional adjustment support device described above may not be able to perform flexible and precise adjustments according to each operating condition, which causes a problem that it is difficult for the adjustment support device to provide thorough support to the user when the user makes fine adjustments to the production equipment.

[0006] Therefore, an object of the present disclosure is to provide an adjustment support device, an adjustment support method, and a program that can provide thorough support to a user when the user makes fine adjustments to a production device.

[0007] To achieve the above object, an adjustment assistance device according to one embodiment of the present disclosure assists in the adjustment of a group of control parameters required for a servo control device when the servo control device controls a servo motor. The adjustment assistance device includes a display control unit, an acquisition unit, and a data generation unit. The display control unit displays an image related to the adjustment on the display unit. The acquisition unit accepts a selection from a plurality of evaluation indexes provided for a plurality of operating conditions for the operation of a driven object moved by the servo motor, and accepts input of a target value provided for each of the plurality of operating conditions and corresponding to the evaluation index selected. The data generation unit generates index data indicating the evaluation index and the target value for each of the plurality of operating conditions acquired by the acquisition unit.

[0008] To achieve the above object, an adjustment assistance method according to one aspect of the present disclosure is executed by a computer to assist in the adjustment of a group of control parameters required for a servo control device when the servo control device controls a servo motor. This adjustment assistance method includes a display control step, an acquisition step, and a data generation step. The display control step displays an image related to the adjustment on a display unit. The acquisition step accepts a selection from a plurality of evaluation indexes provided for a plurality of operating conditions for the operation of a driven object moved by the servo motor, and accepts input of target values ​​provided for each of the plurality of operating conditions and corresponding to the evaluation index selected. The data generation step generates index data indicating the evaluation index and the target value for each of the plurality of operating conditions acquired by the acquisition step.

[0009] In order to achieve the above object, a program according to one embodiment of the present disclosure causes a computer to execute the above adjustment assistance method.

[0010] The present disclosure provides an adjustment support device, an adjustment support method, and a program that can provide thorough support to a user when the user makes fine adjustments to a production device.

[0011] FIG. 1 is a diagram illustrating an overview of a production system according to an embodiment. FIG. 2 is a block diagram illustrating the functional configuration of the production system according to an embodiment. FIG. 3 is a sequence diagram illustrating a flow of trials in which the production system according to an embodiment searches for a set of control parameters. FIG. 4 is a diagram illustrating settling time and waveform area calculated as evaluation indexes by the adjustment support device according to an embodiment. FIG. 5 is a diagram illustrating an example of a display when the display control unit displays an image related to adjustment of a set of control parameters on the display unit. FIG. 6 is a flowchart illustrating an operation of the adjustment support device according to an embodiment when the display control unit receives a selection of an evaluation index and an input of a target value and generates index data. FIG. 7 is a diagram illustrating an example of an image displayed on the display unit by the display control unit after the acquisition unit receives a selection of an evaluation index and an input of a target value in the flowchart of FIG. 6. FIG. 8 is a diagram illustrating an example of index data generated by the data generation unit in step S26 of FIG. 6. FIG. 9 is a flowchart illustrating an operation performed instead of step S23 shown in FIG. 6 when the adjustment support device according to an embodiment receives a selection of an evaluation index and an input of a target value. FIG. 10 is a diagram illustrating an example of an image displayed on the display unit by the display control unit after the acquisition unit receives a selection of an evaluation index and an input of a target value in the flowchart of FIG. 9. FIG. 11 is a diagram showing an example of index data indicating evaluation indexes and target values ​​for each operating condition received by the acquisition unit from the image shown in FIG. 10. FIG. 12 is a flowchart showing the operation of the display control unit when displaying the evaluation indexes and target values ​​indicated in the recommended data on the display unit. FIG. 13 is a diagram showing an example of recommended data held by the data generation unit in step S41 of FIG. 12. FIG. 14 is a diagram showing an example of an image displayed by the display control unit on the display unit in step S42 of FIG. 12. FIG. 15 is a flowchart showing the operation of the display control unit when displaying the evaluation indexes and target values ​​indicated in the unnecessary data on the display unit. FIG. 16 is a diagram showing an example of unnecessary data held by the data generation unit in step S51 of FIG. 15. FIG. 17 is a diagram showing an example of an image displayed by the display control unit on the display unit in step S52 of FIG. 15.

[0012] 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 merely 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 redundant explanations are omitted or simplified.

[0013] (Embodiment) [Configuration] FIG. 1 is a diagram showing an overview of a production system 1000 according to an embodiment.

[0014] As shown in Fig. 1, the production system 1000 is a system for producing an object. The production system 1000 includes a production device 10 (an example of an object), a sensor information collection device 70, and an adjustment support device 80. The production device 10, the sensor information collection device 70, and the 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.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] 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 adjustment support device 80. The servo information is information including operating conditions and a control parameter group. The operating conditions are an operating pattern of the driven object 20 moved by the servo motor 30, and include, for example, a moving distance, a maximum speed, an acceleration time, and a deceleration time of the driven object 20. The operating conditions included in the servo information may be one operating pattern or multiple operating patterns. 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 multiple parameters, and includes, for example, a position gain, a torque gain, and an integral gain. The control parameter group is a parameter set that is set to realize the operating conditions.

[0019] 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 adjustment assistance device 80.

[0020] 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 collection device 70.

[0021] 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 adjustment support device 80.

[0022] The adjustment support device 80 is a device that supports the adjustment of a group of control parameters required by the servo control device 40 when the servo control device 40 controls the servo motor 30. Here, adjusting the group of control parameters refers to optimizing the group of control parameters and also includes a search process for this purpose. The 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 adjustment support device 80 is used to adjust the above-mentioned control parameters. The adjustment support device 80 receives encoder information transmitted from the encoder 50 and sensor information transmitted from the sensor information collection device 70. The adjustment support device 80 also adjusts the group of control parameters for multiple operating conditions based on the received encoder information and sensor information, and transmits servo information including the adjusted group of control parameters to the production apparatus 10. The adjustment support device 80 may be included as part of the above-mentioned terminal device. Furthermore, the adjustment support device 80 is not limited to the above-mentioned terminal device, and an interface, such as a mouse or keyboard, may be connected to the adjustment support device 80 and operated by a user through the interface.

[0023] FIG. 2 is a block diagram showing the functional configuration of the production system 1000 according to the embodiment.

[0024] 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.

[0025] The servo information acquisition unit 41 acquires (receives) the servo information transmitted from the adjustment support device 80. The servo information acquisition unit 41 is realized by, for example, a communication module or the like.

[0026] 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.

[0027] The storage unit 43 stores various types of information, programs, etc. The storage unit 43 is realized by, for example, a memory.

[0028] 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.

[0029] As shown in FIG. 2, the 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.

[0030] The operation unit 81 accepts input from the user. Specifically, the operation unit 81 accepts input of an evaluation index, a target value, a set time, and the number of times of setting by the user. The evaluation index is an index related to the performance of the production apparatus 10 (e.g., the settling time and waveform area 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 waveform area is an area indicating the total movement distance of the driven object 20. A detailed description of the settling time and waveform area will be given later. The target value is a target numerical value set by the user for each evaluation index. The set time is the settling time of the control parameter group input in advance by the user when adjusting the control parameter group. The number of times of setting is the number of times the control parameter group is changed in advance by the user when adjusting the control parameter group. The operation unit 81 is realized by, for example, a keyboard and a mouse.

[0031] The display unit 82 displays various information and is realized by, for example, a liquid crystal display.

[0032] 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.

[0033] The control unit 84 controls the entire adjustment support device 80. The control unit 84 is realized by, for example, a processor. That is, the processor executes programs stored in memory to perform various functions of the adjustment support device 80. The control unit 84 also includes a display control unit 841, an acquisition unit 842, and a data generation unit 843.

[0034] In this way, the adjustment support device 80 has a processor and a memory, and the processor executes a program stored in the memory to support the adjustment of the control parameter group required for the servo control device 40. In other words, the adjustment support device 80 includes a computer that has a processor and a memory and executes a program stored in the memory, and uses the computer to support the adjustment of the control parameter group required for the servo control device 40. Note that this computer may be built into the terminal device, may be located near the production device 10 as a calculator, or may be built into the production device 10. Furthermore, the computer may be included in an external server, or may be a so-called cloud computer.

[0035] The display control unit 841 displays an image relating to the adjustment of the control parameter group on the display unit 82. Examples of the image will be described later.

[0036] The acquisition unit 842 accepts a selection from a plurality of evaluation indexes provided for each of a plurality of operating conditions via the operation unit 81. The acquisition unit 842 also accepts, via the operation unit 81, an input of a target value corresponding to the evaluation index provided for the plurality of operating conditions and selected.

[0037] The data generating unit 843 generates index data indicating an evaluation index and a target value for each of the plurality of operating conditions accepted by the acquiring unit 842. The index data is data in which the evaluation index and the target value selected and accepted are associated with each of the plurality of operating conditions.

[0038] The setting unit 85 sets the evaluation index, the target value, the set time, the set number of times, etc. based on the user's input received by the operation unit 81. The setting unit 85 is realized by, for example, a processor or the like.

[0039] 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.

[0040] The adjustment unit 87 sets one or more operation groups to be adjusted as operation conditions of the object to be driven 20 when adjusting the control parameter group. Each operation group 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.

[0041] For example, when the adjustment unit 87 operates the driven object 20 under the above-described multiple operating conditions, the adjustment unit 87 first adjusts the control parameter group for the operating condition (a). Specifically, when the adjustment unit 87 operates the driven object 20 under the operating condition (a), the adjustment unit 87 adjusts (i.e., optimizes) the control parameter group so that the operation result of the driven object 20 acquired by the operation result acquisition unit 86 approaches the target value set as the evaluation index. Next, when the adjustment unit 87 operates the driven object 20 again using the adjusted control parameter group, the adjustment unit 87 again adjusts (i.e., re-optimizes) the control parameter group so that the operation result of the driven object 20 acquired by the operation result acquisition unit 86 approaches the target value set as the evaluation index. In this way, the adjustment unit 87 selects an optimal control parameter group in the adjustment of (a). The optimal control parameter group is a control parameter group that can achieve a desired target value under one operating condition. Next, the adjustment unit 87 adjusts the control parameter group for the operating condition (b). First, the adjustment unit 87 adjusts the control parameter group based on the operation result of the driven object 20 acquired by the operation result acquisition unit 86 when the driven object 20 is operated under the operation condition (b) using the optimal control parameter group obtained under the operation condition (a). That is, the adjustment unit 87 operates the driven object 20 under the next operation condition using the optimal control parameter group obtained under the immediately previous operation condition, and adjusts the control parameter group based on the operation result of the driven object 20 acquired by the operation result acquisition unit 86. Then, when the driven object 20 is operated again using the adjusted control parameter group, the adjustment unit 87 adjusts the control parameter group again based on the operation result of the driven object 20 acquired by the operation result acquisition unit 86. In this way, the adjustment unit 87 selects the optimal control parameter group in the adjustment of (b). Similarly, the adjustment unit 87 sequentially searches for the best control parameter group by repeatedly executing the above process for all operation conditions. That is, the adjustment unit 87 executes an algorithm for solving so-called "combinatorial optimization," which searches for a control parameter group that can achieve a desired target value from among a large number of control parameter groups. The best control parameter group is a control parameter group that can achieve a desired target value under multiple operating conditions.

[0042] 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 when the driven object 20 is operated under the above-described operating conditions, using the trained model stored in the storage unit 83. The trained model is constructed, for example, by performing machine learning using historical data from when a skilled engineer previously adjusted the control parameter group as training data. The historical data is specifically data on the control parameter group input by the skilled engineer to the servo control device 40 (i.e., input data) and data on the settling time and waveform area output when the servo control device 40 controlled the drive of the driven object 20 based on the control parameter group of the input data (i.e., output data). Note that, for example, a neural network or the like is used to construct the theoretical model in machine learning.

[0043] The adjustment result output unit 88 outputs the operating conditions set by the adjustment unit 87 and the group of control parameters adjusted by the adjustment unit 87 .

[0044] The servo information output unit 89 outputs (transmits) the servo information including the operating conditions and the control parameter group output from the adjustment result output unit 88 to the production device 10 .

[0045] [Operations When Searching for a Control Parameter Group] FIG. 3 is a sequence diagram showing the flow of a trial in which the production system 1000 according to the embodiment searches for the best control parameter group.

[0046] 3 , first, the adjustment unit 87 of the adjustment support device 80 sets an initial control parameter group 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 adjustment support device 80 outputs servo information including the initial operating conditions and control parameter group (first group of operations to be adjusted) set by the adjustment unit 87 to the production device 10 (step S12).

[0047] Then, the servo information acquisition unit 41 of the servo control device 40 of the production device 10 acquires the servo information from the 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 controls the driving of the driven object 20 by driving (controlling) the servo motor 30 based on the servo information output from the servo information output unit 42 (step S13). As a result, the driven object 20 performs an operation based on the servo information by the servo motor 30.

[0048] Then, the operation result acquisition unit 86 of the 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 parameter groups in order to sequentially search for the best control parameter group, an evaluation index (such as settling time) for each trial, etc.

[0049] Then, the adjustment unit 87 of the adjustment support device 80 adjusts the control parameter groups to sequentially search for the best control parameter group, 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 operation group to be adjusted, which is different from the first operation group to be adjusted, as the operation conditions of the driving object 20. Note that, instead of the above processing, the adjustment unit 87 may adjust the control parameter group 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.

[0050] Then, the servo information output unit 89 of the adjustment support device 80 outputs servo information including the control parameter group adjusted by the adjustment unit 87 and the operating conditions (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.

[0051] [Settling Time and Waveform Area] Fig. 4 is a diagram for explaining the settling time and waveform area calculated as evaluation indexes by the adjustment support device 80 according to the embodiment. Note that the horizontal axis of the diagram shown in Fig. 4 indicates the time since the drive target 20 starts to be driven, and the vertical axis indicates the position deviation of the drive target 20 from the target position. In other words, Fig. 4 is a diagram showing the position deviation of the drive target 20 over time.

[0052] The adjustment support device 80 pre-sets allowable positions at which it can be evaluated that the driven object 20 has reached the target position from the drive start position. For example, the allowable positions may be positions where the positional deviation at the allowable positions is +10% and -10% with respect to the positional deviation at the drive start position, but are not limited to this. Note that in FIG. 4, the allowable positions are positions indicated by two dashed lines. Also, as shown in FIG. 4, the region sandwiched between the two allowable positions is defined as the settling width.

[0053] The settling time means the time from when the driven object 20 starts to be driven to when the peak of the waveform indicating the position deviation of the driven object 20 in the time change is included within the settling width for the first time. In Fig. 4, since the second peak is obtained at the time when it is included within the settling width for the first time, the adjustment support device 80 determines the time from when the driven object 20 starts to be driven to when the second peak is obtained as the settling time.

[0054] The waveform area is the total area of ​​the region surrounded by the waveform and the horizontal axis shown in Fig. 4, which is the shaded region, and corresponds to the total movement distance from when the driven object 20 first reaches the target position until it stops. The adjustment support device 80 regards the waveform area as the total area of ​​the region surrounded by the waveform obtained until the driven object 20 completely stops at the target position and the horizontal axis.

[0055] [Example of Image Related to Adjustment of Control Parameter Group] FIG. 5 is a diagram showing a display example when the display control unit 841 displays an image related to adjustment of the control parameter group on the display unit 82. As shown in FIG.

[0056] As shown in FIG. 5, the image relating to the adjustment of the control parameter group includes the items of an operation command to be adjusted, an operation setting to be adjusted, a preliminary operation setting, and an evaluation index.

[0057] The adjustment target operation command includes the items of the adjustment target operating condition and the operation number. The adjustment target operating condition displays the file name in which the operating condition preset by the user is saved. For example, as shown in FIG. 5 , the adjustment target operating conditions display operation condition 1, operation condition 2, operation condition 3, operation condition 4, ..., and operation condition n (n is an integer equal to or greater than 1). The operation number indicates the order of the adjustment target operating condition used by the adjustment unit 87 when the adjustment unit 87 adjusts the control parameter group using the operation conditions saved in the adjustment target operating condition. In other words, the adjustment unit 87 adjusts the control parameter group in order, starting with the adjustment target operating condition with operation number 1.

[0058] The adjusted operation settings are fields that display the operation conditions saved in the adjustment target operation conditions. Specifically, the condition adjusted operation settings include the movement amount, speed, acceleration / deceleration time, number of repetitions, waiting time, and stop position.

[0059] The amount of movement is a numerical value indicating the distance traveled by the driven object 20 from the origin of the axis of drive to the position where it stops. If the origin is at the center of the axis, a positive value is displayed in the amount of movement column when the driven object 20 is driven in a positive direction relative to the origin, and a negative value is displayed in the amount of movement column when the driven object 20 is driven in a negative direction relative to the origin.

[0060] The speed is a numerical value indicating the constant speed (i.e., maximum speed) of the driven object 20 under each operating condition, and the unit of speed is r / min (revolutions per minute). After driving the driven object 20, the servo motor 30 accelerates the driven object 20 until it reaches a constant speed. After driving the driven object 20 at a constant speed, the servo motor 30 decelerates and stops the driven object 20 when it approaches the target position.

[0061] The acceleration / deceleration time is the total time of the acceleration time, which is the time it takes for the servo motor 30 to accelerate the driven object 20, and the deceleration time, which is the time it takes for the servo motor 30 to decelerate the driven object 20, and the acceleration / deceleration time is expressed in ms. The servo control device 40 controls the driving of the driven object 20 by driving the servo motor 30 so that the total time of the acceleration time and the deceleration time actually taken in adjusting the control parameter group becomes the time set as the acceleration / deceleration time.

[0062] The number of repetitions is the number of times the servo motor 30 drives the driven object 20 under operating conditions using a specific control parameter group. As shown in FIG. 5 , when the number of repetitions for operating condition 1 is 1, the adjustment unit 87 adjusts the control parameter group using each control parameter group once when adjusting the control parameter group for operating condition 1. That is, the adjustment unit 87 adjusts the control parameter group based on one operation result acquired by the operation result acquisition unit 86 for one control parameter group. Furthermore, when the number of repetitions for operating condition 2 is 3, the adjustment unit 87 adjusts the control parameter group using each control parameter group three times when adjusting the control parameter group for operating condition 2. That is, the adjustment unit 87 adjusts the control parameter group based on three operation results acquired by the operation result acquisition unit 86 for one control parameter group.

[0063] The waiting time is the time from when preparations for adjusting the control parameter group are completed until the control parameter group is actually adjusted, and the unit of the waiting time is ms.

[0064] The stop position is a numerical value indicating the position where the driven object 20 stops after being driven. As with the movement amount, if the origin is at the center of the axis, a positive value is displayed in the stop position field when the stop position is a positive position relative to the origin, and a negative value is displayed in the stop position field when the stop position is a negative position relative to the origin.

[0065] The preliminary operation settings are fields that display operation conditions for the servo motor 30 to move the driven object 20 from its current position to a position where the driven object 20 starts to be driven, when the current position of the driven object 20 differs from the position where the driven object 20 starts to be driven, as set in the operation conditions. The preliminary operation settings include items for speed and acceleration / deceleration time. Note that the speed and acceleration / deceleration time included in the preliminary operation settings are the same as the speed and acceleration / deceleration time included in the adjustment operation settings, and therefore a description thereof will be omitted.

[0066] The numerical values ​​displayed in the adjusted operation settings and the preliminary operation settings for each operating condition are operating conditions preset by the user. The image relating to the adjustment of the control parameter group shown in Fig. 5 displays the operating conditions preset by the user.

[0067] The evaluation indexes include XXX in addition to the settling time and waveform area described above. XXX, which is one of the evaluation indexes, is an arbitrarily determined evaluation index, and is, for example, sound data related to the sound generated when the adjustment unit 87 adjusts the control parameter group. The sound data may be displayed as, for example, data indicating the loudness (dB) of the sound or data indicating the pitch (Hz). XXX may also display data related to the adjustment of the control parameter group other than the sound data.

[0068] As shown in FIG. 5, each evaluation item is provided with a selection area 101 and an input area 102 .

[0069] The selection area 101 is a checkbox that allows the acquisition unit 842 to select or not select each evaluation index. If the selection area 101 is a blank checkbox, the acquisition unit 842 accepts not selecting the evaluation index corresponding to the selection area 101. If the selection area 101 is a checkbox with a checkmark, the acquisition unit 842 accepts selection of the evaluation index corresponding to the selection area 101. That is, FIG. 5 is a diagram showing an example of an image in which the acquisition unit 842 accepts selection of only the waveform area of ​​operating condition 1. Note that selecting each evaluation index means using it as an evaluation index in adjusting the control parameter group. Note that not selecting each evaluation index means not using it as an evaluation index in adjusting the control parameter group.

[0070] The operation of the acquisition unit 842 to accept the selection or non-selection of each evaluation index via the selection area 101 will be described. In FIG. 5 , for example, if the user sets the settling time of operating condition 1 as the evaluation index, the user clicks on the corresponding selection area 101, causing the acquisition unit 842 to accept the selection of the evaluation index. The display control unit 841 changes the display mode of the image related to the adjustment of the control parameter group displayed on the display unit 82 based on information regarding the selection accepted by the acquisition unit 842. Specifically, the display control unit 841 changes the display mode of the selection area 101 corresponding to the evaluation index from a blank check box to a check box with a check mark. Also, in FIG. 5 , if the user does not set the waveform area of ​​operating condition 1 as the evaluation index, the user clicks on the corresponding selection area 101, causing the acquisition unit 842 to accept the non-selection of the evaluation index. The display control unit 841 changes the display mode of the selection area 101 corresponding to the evaluation index from a check box with a check mark to a blank check box based on information regarding the selection accepted by the acquisition unit 842.

[0071] The input area 102 is an area for receiving input of a target value corresponding to the evaluation index selected and received by the acquisition unit 842 in the selection area 101. The acquisition unit 842 receives input of a target value only in the input area 102 corresponding to the evaluation index selected and received in the selection area 101. That is, in the case of FIG. 5 , the user can input a target value only in the input area 102 provided in the waveform area of ​​operating condition 1.

[0072] Furthermore, the image related to the adjustment of the control parameter group displays a confirm button 103. The confirm button 103 is a button for causing the acquisition unit 842 to accept the selection of the evaluation index and the input of the target value when the user has finished selecting the evaluation index and inputting the target value. The confirm button 103 is a button for causing the data generation unit 843 to generate index data indicating the evaluation index and the target value for each of the multiple operating conditions accepted by the acquisition unit 842. The data generation unit 843 may generate index data when the acquisition unit 842 acquires the selection of at least one evaluation index among the evaluation indexes for each of the multiple operating conditions. In other words, when the user clicks the confirm button 103, the data generation unit 843 may not generate index data if there is an operating condition for which the acquisition unit 842 does not acquire the selection of an evaluation index among the evaluation indexes for each of the multiple operating conditions. In such a case, the display control unit 841 may transition from the image related to the adjustment of the control parameter group displayed on the display unit 82 to a screen displaying a warning message. Alternatively, when the user clicks the confirm button 103, if there is an operating condition for which the acquisition unit 842 does not acquire a selection of evaluation indexes among the evaluation indexes for each of the multiple operating conditions, the data generation unit 843 may generate index data by adding the evaluation indexes for the operating condition indicated in the recommended data described below.

[0073] As described above, the adjustment support device 80 adjusts the control parameter group based on at least one evaluation index selected for each operating condition. As a result, the adjustment support device 80 searches for a control parameter group that can achieve a target value corresponding to at least one evaluation index, and therefore, can search for a control parameter group with higher accuracy.

[0074] [Generation of Index Data] FIG. 6 is a flowchart showing the operation of the adjustment support device 80 according to the embodiment when it receives the selection of an evaluation index and the input of a target value, and generates index data.

[0075] First, the display control unit 841 displays an image relating to the adjustment of the control parameter group on the display unit 82 (step S21). Note that the image displayed on the display unit 82 by the display control unit 841 is an image in which no evaluation index is selected and no target value is input. In other words, the display control unit 841 displays an image on the display unit 82 in which the selection area 101 provided in the waveform area column for operating condition 1 in the image shown in FIG. 5 has been changed to a blank selection area 101. Note that the image displayed on the display unit 82 by the display control unit 841 in step S21 is an initial display image.

[0076] Next, the acquisition unit 842 receives a selection of an evaluation index for one operating condition (step S22), and then receives an input of a target value corresponding to the selected evaluation index (step S23).

[0077] Then, if the acquisition unit 842 receives a selection of another evaluation index under the same operating conditions (Yes in step S24), the acquisition unit 842 receives input of a target value corresponding to the other evaluation index under the same operating conditions for which the selection was received (step S23).

[0078] Furthermore, if the acquisition unit 842 does not accept the selection of another evaluation index under the same operating conditions (No in step S24) but accepts the selection of an evaluation index under another operating condition (Yes in step S25), the acquisition unit 842 accepts the input of a target value corresponding to the evaluation index under the other operating condition for which the selection was accepted (step S23).

[0079] Furthermore, if the acquisition unit 842 does not accept the selection of other evaluation indexes under the same operating conditions (No in step S24) or if the acquisition unit 842 does not accept the selection of evaluation indexes under other operating conditions (No in step S25), the data generation unit 843 generates index data when the user clicks the confirmation button 103 (step S26).

[0080] FIG. 7 is a diagram showing an example of an image that the display control unit 841 displays on the display unit 82 after the acquisition unit 842 receives the selection of the evaluation index and the input of the target value in the flowchart of FIG.

[0081] 7 , for example, the user selects the selection area 101 for the settling time under operating condition 1, but does not select the selection areas 101 for the waveform area and XXX. The user also inputs a target value into the input area 102 corresponding to the selected evaluation index. The acquisition unit 842 accepts the selection of an evaluation index and the input of the corresponding target value for each of the operating conditions. The data generation unit 843 then generates index data indicating the evaluation index and the target value for each of the operating conditions accepted by the acquisition unit 842.

[0082] FIG. 8 is a diagram showing an example of index data generated by the data generation unit 843 in step S26 of FIG. 6 . FIG. 8 is also a diagram showing an example of index data indicating evaluation indexes and target values ​​for each operating condition accepted by the acquisition unit 842 from the image shown in FIG. 7 . FIG. 8 is also a diagram showing an example of index data in which the selection of an evaluation index accepted by the acquisition unit 842 and the input of a target value are associated with each of a plurality of operating conditions. In addition, in the "Selected" column, "Yes" indicates that the acquisition unit 842 has accepted the selection of an evaluation index, and "No" indicates that the acquisition unit 842 has not accepted the selection of an evaluation index. In addition, in FIG. 8 , the target value column corresponding to an evaluation index for which the "Selected" column is "No" is blank because the acquisition unit 842 has not accepted the input of the target value.

[0083] 8 , the data generating unit 843 generates index data by, for example, setting the settling time to "Yes" and setting the waveform area and XXX to "No" from the selection of evaluation indexes received by the acquiring unit 842 for operating condition 1. The data generating unit 843 also generates index data by setting the target value corresponding to the settling time to 7 ms from the target values ​​received by the acquiring unit 842 for operating condition 1 and leaving the target values ​​corresponding to the waveform area and XXX blank. In this way, the data generating unit 843 generates index data indicating the evaluation indexes and target values ​​for each of the multiple operating conditions received by the acquiring unit 842.

[0084] As described above, the data generator 843 generates index data indicating at least one evaluation index set independently by the acquirer 842 for each of a plurality of operating conditions. This allows the adjuster 87, when adjusting the control parameter group, to search for a control parameter group that is achievable based on the target value corresponding to the evaluation index for each operating condition indicated by the index data. Therefore, the adjustment support device 80 can flexibly and precisely adjust the control parameter group in accordance with each operating condition, thereby obtaining a highly accurate control parameter group in the adjustment of the control parameter group.

[0085] [Modification of Index Data Generation] FIG. 9 is a flowchart showing an operation performed by the adjustment support device 80 according to the embodiment in place of step S23 shown in FIG. 6 when the adjustment support device 80 receives the selection of an evaluation index and the input of a target value.

[0086] If the acquisition unit 842 receives input of a target value corresponding to the evaluation index whose selection has been received (Yes in step S31), the acquisition unit 842 receives the numerical value input in the input area 102 as the target value (step S32).

[0087] If the acquisition unit 842 does not accept input of a target value corresponding to the evaluation index whose selection has been accepted (No in step S31), the acquisition unit 842 accepts the target value as 0 (step S33). If the acquisition unit 842 accepts the settling time as 0 ms, the adjustment unit 87 searches for a set of control parameters that will bring the settling time close to zero. Also, if the acquisition unit 842 accepts the waveform area as 0, the adjustment unit 87 searches for a set of control parameters that will bring the waveform area close to zero.

[0088] FIG. 10 is a diagram showing an example of an image that the display control unit 841 displays on the display unit 82 after the acquisition unit 842 receives the selection of the evaluation index and the input of the target value in the flowchart of FIG.

[0089] As shown in FIG. 10 , for example, the user selects the selection areas 101 for the settling time and waveform area under operating condition 2, but does not select the selection area 101 for XXX. Furthermore, the user inputs a target value into the input area 102 for the waveform area under operating condition 2, but does not input a target value into the input area 102 for the settling time. The acquisition unit 842 accepts the numerical value entered into the input area 102 as the target value for the waveform area, and accepts the target value for the settling time as 0. In this way, the acquisition unit 842 accepts the selection of an evaluation index and the input of a target value corresponding to the evaluation index for all operating conditions. The data generation unit 843 then generates index data indicating the evaluation index and target value for each of the multiple operating conditions accepted by the acquisition unit 842.

[0090] Fig. 11 is a diagram showing an example of index data indicating evaluation indexes and target values ​​for each operating condition received by the acquisition unit 842 from the image shown in Fig. 10. Note that the presence or absence of selection in Fig. 11 is the same as the presence or absence of selection in Fig. 8.

[0091] 11 , the data generating unit 843 generates index data by, for example, setting the settling time and waveform area as "Yes" and setting XXX as "No" from the selection of evaluation indices received by the acquiring unit 842 for operating condition 2. The data generating unit 843 also generates index data by setting the target value corresponding to the settling time from the target values ​​received by the acquiring unit 842 for operating condition 2 to 0 ms, the target value corresponding to the waveform area to 230, and leaving the target value corresponding to XXX blank. In this way, the data generating unit 843 generates index data indicating the evaluation indices and target values ​​for each of the multiple operating conditions received by the acquiring unit 842.

[0092] As described above, the data generation unit 843 generates index data by regarding target values ​​for which the acquisition unit 842 has not accepted input as 0, and therefore the adjustment support device 80 can adjust the control parameter groups more flexibly and precisely according to each operating condition.

[0093] [Setting Range of Target Values] In generating the index data described above, the acquisition unit 842 may accept input of target values ​​within a predetermined setting range. For example, the acquisition unit 842 may not accept input of target values ​​when it acquires a negative value or a very large value (e.g., a value greater than 10,000) from the input area 102 corresponding to the settling time and waveform area. When the user clicks the Confirm button 103 and the acquisition unit 842 acquires such values, the display control unit 841 may transition from an image related to the adjustment of the control parameter group displayed on the display unit 82 to a screen displaying a warning message. Alternatively, when the user clicks the Confirm button 103 and the acquisition unit 842 acquires such values, the acquisition unit 842 may accept the target value as 0 if the value is negative, or as an upper limit (e.g., 5,000) if the value is very large. Furthermore, a numerical upper limit may be set for each evaluation index.

[0094] As described above, the adjustment support device 80 can preset inappropriate numerical values ​​for adjustment, so the user can input a target value by referring to the preset range.

[0095] [Input of Settings of Multiple Axes] In generating the index data described above, the acquisition unit 842 may accept input of a selection of an evaluation index and a target value as shown in Fig. 5, 7, or 10 for each of a plurality of axes along which the driven object 20 moves, for each of a plurality of operating conditions. Specifically, the acquisition unit 842 may accept input of a selection of an evaluation index and a target value as shown in Fig. 5, 7, or 10 for each of the X-axis, Y-axis, and Z-axis along which the driven object 20 moves, for each of a plurality of operating conditions. For example, in an image related to adjustment of the control parameter group, a field for accepting input of a selection of an evaluation index and a target value for each of a plurality of axes is provided, whereby the acquisition unit 842 accepts input of a selection of an evaluation index and a target value for each of a plurality of axes along which the driven object 20 moves.

[0096] As described above, the adjustment support device 80 adjusts the control parameter group for each of the multiple axes along which the driven object 20 moves, based on the selection of the evaluation index and the input of the target value. This allows the adjustment support device 80 to adjust the control parameter group flexibly and precisely according to each of the multiple axes, thereby making it possible to obtain a control parameter group with higher accuracy in the adjustment of the control parameter group.

[0097] [Initial Display of Image] In generating the index data described above, the display control unit 841 may display an image showing data contained in a CSV (Comma-Separated Values) file or the like created in advance by the user as the image to be displayed in step S21 of FIG. 6 on the display unit 82. The data contained in the CSV file is data indicating evaluation indexes and target values ​​corresponding to each of a plurality of operating conditions. Specifically, the acquisition unit 842 accepts data contained in the CSV file or the like, and the data generation unit 843 generates initial data indicating evaluation indexes and target values ​​corresponding to each of a plurality of operating conditions based on the data. The display control unit 841 then displays the evaluation indexes and target values ​​indicated by the initial data on the display unit 82. The selection of evaluation indexes and the input contents of the target values ​​based on the initial data can be changed by the user operating the adjustment support device 80.

[0098] As described above, the display control unit 841 displays on the display unit 82 an image showing data contained in a CSV file or the like that the user has created in advance, so the adjustment support device 80 can reduce the burden on the user of selecting evaluation indexes and inputting target values.

[0099] 12 is a flowchart showing the operation of the display control unit 841 when the display control unit 841 displays the evaluation indexes and target values ​​indicated by the recommended data on the display unit 82. Note that the recommended data is data stored in advance in the data generation unit 843, and is data indicating the evaluation indexes and target values ​​recommended for adjusting the control parameter group in accordance with each of a plurality of operating conditions.

[0100] The data generating unit 843 stores the recommended data in advance (step S41).

[0101] The display control unit 841 displays the evaluation index and target value indicated in the recommended data on the display unit 82 (step S42).

[0102] The display control unit 841 may display the evaluation index and the target value indicated by the recommended data in the image displayed on the display unit 82 in step S21 of Fig. 6. Specifically, the display control unit 841 may display the example image shown in Fig. 14 (described later) on the display unit 82 in step S21 of Fig. 6.

[0103] Fig. 13 is a diagram showing an example of recommended data held by the data generation unit 843 in step S41 of Fig. 12. In the column for selection, "Yes" indicates that the data generation unit 843 recommends the selection of an evaluation index in adjusting the control parameter group, and "No" indicates that the data generation unit 843 does not recommend the selection of an evaluation index in adjusting the control parameter group.

[0104] 13 , the data generating unit 843 stores recommended data indicating the evaluation index and target value recommended for adjusting the control parameter group for each of a plurality of operating conditions. For example, if the data generating unit 843 recommends using the settling time as the evaluation index for operating condition 1, the data generating unit 843 stores recommended data indicating that the settling time is present and that the waveform area and XXX are absent. Furthermore, if the data generating unit 843 recommends that the settling time target value for operating condition 1 be 5 ms, the data generating unit 843 stores recommended data indicating that the target value is 5 ms. In this way, the data generating unit 843 stores in advance recommended data indicating the evaluation index and target value recommended for adjusting the control parameter group for each of a plurality of operating conditions.

[0105] Fig. 14 is a diagram showing an example of an image displayed on the display unit 82 by the display control unit 841 in step S42 of Fig. 12. Fig. 14 is a diagram showing an example of a display displayed on the display unit 82 by the display control unit 841 based on the recommended data shown in Fig. 13.

[0106] As shown in FIG. 14 , the display control unit 841 displays on the display unit 82 an image in which a selection area 101 provided for an operating condition corresponding to an evaluation index that is selected in the recommendation data shown in FIG. 13 is selected, and a target value is input into an input area 102. Note that the display mode of the selection area 101 and the input content of the input area 102 shown in FIG. 14 can be changed by a user's operation on the adjustment support device 80. For example, the user may cancel the selection of the evaluation index based on the recommendation data or may select a different evaluation index. The user may also change the input content of the target value based on the recommendation data.

[0107] As described above, the display control unit 841 displays the evaluation indexes and target values ​​indicated in the recommended data on the display unit 82, so that the user can make adjustments by referring to the evaluation indexes and target values ​​recommended for each operating condition.

[0108] 15 is a flowchart showing the operation of the display control unit 841 when the evaluation indexes and target values ​​indicated by the unnecessary data are displayed on the display unit 82. Note that the unnecessary data is data stored in advance in the data generation unit 843, and is data indicating evaluation indexes that are not required for adjusting the control parameter group according to each of a plurality of operating conditions.

[0109] The data generating unit 843 stores unnecessary data in advance (step S51).

[0110] The display control unit 841 displays an image indicating that the evaluation index indicated by the unnecessary data cannot be selected and the target value corresponding to the evaluation index cannot be input (step S52). Note that the image indicating that the evaluation index cannot be selected and the target value cannot be input may be, for example, an image in which the selection area 101 corresponding to the unnecessary evaluation index and the input area 102 corresponding to the unnecessary evaluation index are displayed in gray. Furthermore, the image indicating that the evaluation index cannot be selected and the target value cannot be input may be an image in which the selection area 101 corresponding to the unnecessary evaluation index and the input area 102 corresponding to the unnecessary evaluation index are not displayed. Furthermore, the image indicating that the evaluation index cannot be selected and the target value cannot be input may be an image in which the selection area 101 corresponding to the unnecessary evaluation index and the input area 102 corresponding to the unnecessary evaluation index are displayed in dashed lines.

[0111] Furthermore, the display control unit 841 may display an image in which it is not possible to select an evaluation index indicated by unnecessary data and to input a target value corresponding to the evaluation index in the image displayed on the display unit 82 in step S21 of Fig. 6. Specifically, the display control unit 841 may display an example of an image shown in Fig. 17, which will be described later, on the display unit 82 in step S21 of Fig. 6.

[0112] Furthermore, the display control unit 841 may display the evaluation index and target value indicated by the recommended data on the display unit 82, which displays an image that does not allow the selection of the evaluation index indicated by the unnecessary data and the input of the target value corresponding to the evaluation index.

[0113] 16 is a diagram showing an example of unnecessary data held by the data generation unit 843 in step S51 of FIG. 15. In the column "necessary / unnecessary," "necessary" indicates an evaluation index that is necessary for the data generation unit 843 to adjust the control parameter group, and "unnecessary" indicates an evaluation index that is not necessary for the data generation unit 843 to adjust the control parameter group. A "necessary" evaluation index refers to, for example, an evaluation index that affects the adjustment of the control parameter group, or an evaluation index that is appropriate for adjusting the control parameter group. An "unnecessary" evaluation index refers to, for example, an evaluation index that does not affect the adjustment of the control parameter group, or an evaluation index that is not appropriate for adjusting the control parameter group.

[0114] 16 , the data generator 843 generates unnecessary data indicating evaluation indexes that are not required for adjusting the control parameter group according to each of the plurality of operating conditions. For example, if the data generator 843 determines that it is not necessary to use settling time as an evaluation index for operating condition 1, the data generator 843 stores in advance unnecessary data that does not require settling time but requires waveform area and XXX. In this way, the data generator 843 stores in advance unnecessary data that indicates evaluation indexes that are not required for adjusting the control parameter group according to each of the plurality of operating conditions.

[0115] Fig. 17 is a diagram showing an example of an image displayed on the display unit 82 by the display control unit 841 in step S52 of Fig. 15. Fig. 17 is an example of an image displaying, by dashed lines, the selection area 101 corresponding to the evaluation index that has been deemed unnecessary in the unnecessary data shown in Fig. 16 and the input area 102 corresponding to the evaluation index.

[0116] 17, the display control unit 841 displays on the display unit 82 an image in which a selection area 101 provided for an operating condition corresponding to an unnecessary evaluation index in the unnecessary data shown in Fig. 16 and an input area 102 corresponding to the selection area 101 are displayed in dashed lines. The user cannot select the selection area 101 displayed in dashed lines, and cannot input a target value into the input area 102 displayed in dashed lines.

[0117] As described above, the display control unit 841 displays an image on the display unit 82 indicating that the evaluation index indicated by unnecessary data cannot be selected and the target value cannot be input, so the user can make adjustments limited to the evaluation indexes and target values ​​required for each operating condition.

[0118] [Effect] The adjustment support device 80 according to this embodiment supports the adjustment of a group of control parameters required for the servo control device 40 when the servo control device 40 controls the servo motor 30. The adjustment support device 80 includes a display control unit 841, an acquisition unit 842, and a data generation unit 843. The display control unit 841 displays an image related to the adjustment on the display unit 82. The acquisition unit 842 accepts a selection from a plurality of evaluation indexes provided for a plurality of operating conditions for the operation of the driven object 20 moved by the servo motor 30, and accepts input of a target value provided for each of the plurality of operating conditions and corresponding to the evaluation index selected. The data generation unit 843 generates index data indicating the evaluation index and the target value for each of the plurality of operating conditions acquired by the acquisition unit 842.

[0119] With this configuration, the data generation unit 843 generates index data indicating at least one evaluation index set independently for each of a plurality of operating conditions. As a result, when adjusting the control parameter group, the adjustment unit 87 can search for a control parameter group that is achievable based on the target value corresponding to the evaluation index for each operating condition indicated by the index data. Therefore, the adjustment support device 80 can flexibly and precisely adjust the control parameter group according to each operating condition, thereby obtaining a highly accurate control parameter group in the adjustment of the control parameter group. This allows the adjustment support device 80 to provide thorough support to the user when making fine adjustments to the production apparatus 10.

[0120] Furthermore, in the adjustment support device 80 according to this embodiment, the data generation unit 843 stores in advance recommended data indicating the evaluation indexes and target values ​​recommended for adjustment according to each of a plurality of operating conditions, and the display control unit 841 further displays the evaluation indexes and target values ​​indicated in the recommended data on the display unit 82.

[0121] With this configuration, the display control unit 841 displays the evaluation indexes and target values ​​indicated in the recommended data on the display unit 82, so the user can make adjustments by referring to the evaluation indexes and target values ​​recommended for each operating condition. This allows the adjustment support device 80 to provide thorough support to the user when the user makes fine adjustments to the production apparatus 10.

[0122] Furthermore, in the adjustment support device 80 according to this embodiment, the data generation unit 843 stores in advance unnecessary data indicating evaluation indicators that are not required for adjustment according to each of a plurality of operating conditions, and the display control unit 841 displays on the display unit 82 an image indicating that it is not possible to select an evaluation indicator indicated by the unnecessary data and to input a target value corresponding to the evaluation indicator indicated by the unnecessary data.

[0123] With this configuration, the display control unit 841 displays an image on the display unit 82 indicating that the evaluation index indicated by the unnecessary data cannot be selected and the target value cannot be input, so the user can make adjustments limited to the evaluation indexes and target values ​​required for each operating condition. This allows the adjustment support device 80 to provide thorough support to the user when the user makes fine adjustments to the production apparatus 10.

[0124] Furthermore, in the adjustment support device 80 according to this embodiment, the acquisition unit 842 accepts input of a target value within a predetermined setting range.

[0125] With this configuration, the adjustment support device 80 can preset inappropriate values ​​for adjustment, allowing the user to input target values ​​by referring to the preset range. This allows the adjustment support device 80 to provide thorough support to the user when making fine adjustments to the production device 10.

[0126] Furthermore, in the adjustment support device 80 according to this embodiment, the data generation unit 843 generates index data when the acquisition unit 842 acquires a selection of at least one evaluation index from among the evaluation indexes for each of a plurality of operating conditions.

[0127] With this configuration, the adjustment support device 80 adjusts the control parameter group based on at least one evaluation index selected for each operating condition. As a result, the adjustment support device 80 searches for a control parameter group that can achieve a target value corresponding to at least one evaluation index, thereby enabling a search for a control parameter group with higher accuracy. Therefore, the adjustment support device 80 can provide thorough support to the user when the user makes fine adjustments to the production apparatus 10.

[0128] In addition, in the adjustment support device 80 according to this embodiment, when the acquisition unit 842 does not receive input of a target value for the evaluation index acquired, the data generation unit 843 generates index data by regarding the target value as 0.

[0129] With this configuration, the data generating unit 843 generates index data by regarding a target value for which the acquiring unit 842 has not received input as 0, and therefore the adjustment support device 80 can adjust the control parameter group more flexibly and precisely according to each operating condition. This allows the adjustment support device 80 to provide thorough support to the user when the user makes fine adjustments to the production apparatus 10.

[0130] Furthermore, in the adjustment support device 80 according to this embodiment, the acquisition unit 842 receives the selection of an evaluation index and the input of a target value for each of a plurality of axes along which the driven object 20 moves.

[0131] With this configuration, the adjustment support device 80 adjusts the control parameter group for each of the multiple axes along which the driven object 20 moves, based on the selection of the evaluation index and the input of the target value. This allows the adjustment support device 80 to make flexible and precise adjustments according to each of the multiple axes, thereby obtaining a control parameter group with higher accuracy in the adjustment of the control parameter group. Therefore, the adjustment support device 80 can provide thorough support to the user when the user makes fine adjustments to the production apparatus 10.

[0132] Furthermore, the adjustment support method according to this embodiment is executed by a computer that supports the adjustment of a group of control parameters required for the servo control device 40 when the servo control device 40 controls the servo motor 30. This adjustment support method includes a display control step, an acquisition step, and a data generation step. The display control step displays an image related to the adjustment on the display unit 82. The acquisition step accepts a selection from a plurality of evaluation indexes provided for a plurality of operating conditions for the operation of the driven object 20 moved by the servo motor 30, and accepts input of a target value that is provided for each of the plurality of operating conditions and corresponds to the evaluation index that has been selected. The data generation step generates index data that indicates the evaluation index and target value for each of the plurality of operating conditions acquired by the acquisition step.

[0133] With this configuration, the adjustment support method generates index data indicating at least one evaluation index set independently for each of a plurality of operating conditions. As a result, when adjusting a control parameter group, the adjustment support method can search for a control parameter group that is achievable based on a target value corresponding to the evaluation index indicated by the index data. Therefore, the adjustment support method can flexibly and precisely adjust the control parameter group according to each operating condition, thereby obtaining a highly accurate control parameter group in the adjustment of the control parameter group. As a result, the adjustment support method can provide thorough support to the user when making fine adjustments to the production apparatus 10.

[0134] Moreover, the program according to the present embodiment causes the computer to execute steps included in the adjustment support method.

[0135] With this configuration, the computer generates index data indicating at least one evaluation index set independently for each of a plurality of operating conditions. This allows the computer to search for a control parameter set that is achievable based on the target value corresponding to the evaluation index indicated by the index data when adjusting the control parameter set. Therefore, the computer can flexibly and precisely adjust the control parameter set according to each operating condition, thereby obtaining a highly accurate control parameter set when adjusting the control parameter set. This allows the computer to provide thorough support to the user when making fine adjustments to the production apparatus 10.

[0136] [Modifications] While the adjustment assistance device according to one or more aspects has been described above based on the above embodiment, the present disclosure is not limited to the above 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 embodiment or configurations constructed by combining components of different embodiments may also be included within the scope of one or more aspects.

[0137] 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 or processor reading and executing a software program recorded on a recording medium such as a hard disk or semiconductor memory.

[0138] Furthermore, some or all of the functions of the adjustment support device according to the above-described embodiment may be realized by a processor such as a CPU executing a program.

[0139] 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.

[0140] [Additional Notes] The above description of the embodiments discloses the following techniques.

[0141] (Technology 1) An adjustment support device (80) that supports adjustment of a group of control parameters required for a servo control device (40) when the servo control device (40) controls a servo motor (30), the adjustment support device (80) comprising: a display control unit (841) that displays an image related to the adjustment on a display unit (82); an acquisition unit (842) that receives a selection from a plurality of evaluation indexes provided for a plurality of operating conditions for the operation of a driven object (20) moved by the servo motor (30), and receives input of a target value that is provided for each of the plurality of operating conditions and corresponds to the evaluation index that has received the selection; and a data generation unit (843) that generates index data indicating the evaluation index and the target value for each of the plurality of operating conditions acquired by the acquisition unit (842).

[0142] (Technology 2) The adjustment support device (80) described in Technology 1, wherein the data generation unit (843) pre-stores recommendation data indicating the evaluation index and the target value recommended for the adjustment according to each of the plurality of operating conditions, and the display control unit (841) further displays the evaluation index and the target value indicated by the recommendation data on the display unit (82).

[0143] (Technology 3) The adjustment support device (80) described in Technology 1 or 2, wherein the data generation unit (843) stores in advance unnecessary data indicating the evaluation indexes that are not required for the adjustment according to each of the plurality of operating conditions, and the display control unit (841) displays on the display unit (82) an image indicating that it is not possible to select the evaluation index indicated by the unnecessary data and to input the target value corresponding to the evaluation index indicated by the unnecessary data.

[0144] (Technology 4) The adjustment support device (80) according to any one of Technologies 1 to 3, wherein the acquisition unit (842) accepts input of the target value within a predetermined setting range.

[0145] (Technology 5) The adjustment support device (80) described in any one of Technologies 1 to 4, wherein the data generation unit (843) generates the index data when the acquisition unit (842) acquires a selection of at least one of the evaluation indexes for each of the plurality of operating conditions.

[0146] (Technology 6) An adjustment support device (80) described in any one of Technologies 1 to 5, wherein the data generation unit (843) generates the index data by regarding the target value as 0 when the input of the target value for the evaluation index acquired by the acquisition unit (842) is not accepted.

[0147] (Technology 7) The adjustment support device (80) described in any one of Technologies 1 to 6, wherein the acquisition unit (842) accepts selection of the evaluation index and input of the target value for each of a plurality of axes along which the driven object (20) moves.

[0148] (Technology 8) An adjustment support method executed by a computer that supports adjustment of a group of control parameters required for a servo control device (40) when the servo control device (40) controls a servo motor (30), the adjustment support method including: a display control step of displaying an image related to the adjustment on a display unit (82); an acquisition step of accepting a selection from a plurality of evaluation indexes provided for a plurality of operating conditions for the operation of a driven object (20) moved by the servo motor (30) and accepting input of a target value corresponding to the evaluation index that is provided for each of the plurality of operating conditions and for which a selection has been accepted; and a data generation step of generating index data indicating the evaluation index and the target value for each of the plurality of operating conditions acquired by the acquisition step.

[0149] (Technology 9) A program for causing the computer to execute the adjustment support method described in Technology 8.

[0150] The adjustment assistance device, adjustment assistance method, and program according to the present disclosure are useful, for example, as devices that assist in the adjustment of a group of control parameters required when a servo control device controls a servo motor.

[0151] REFERENCE SIGNS LIST 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 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 Selection area 102 Input area 103 Confirm button 841 Display control unit 842 Acquisition unit 843 Data generation unit 1000 Production system

Claims

1. An adjustment support device that supports the adjustment of a group of control parameters required for a servo control device when the servo control device controls a servo motor, comprising: a display control unit that displays an image related to the adjustment on a display unit; an acquisition unit that accepts a selection from a plurality of evaluation indexes provided for a plurality of operating conditions for the operation of an object to be driven by the servo motor, and accepts input of a target value that is provided for each of the plurality of operating conditions and corresponds to the evaluation index for which a selection has been accepted; and a data generation unit that generates index data indicating the evaluation index and the target value for each of the plurality of operating conditions acquired by the acquisition unit.

2. The adjustment support device described in claim 1, wherein the data generation unit pre-stores recommended data indicating the evaluation index and the target value recommended for the adjustment according to each of the multiple operating conditions, and the display control unit further displays the evaluation index and the target value indicated in the recommended data on the display unit.

3. The adjustment support device of claim 1 or 2, wherein the data generation unit pre-stores unnecessary data indicating the evaluation indexes that are not required for the adjustment according to each of the multiple operating conditions, and the display control unit displays on the display unit an image indicating that it is not possible to select the evaluation index indicated by the unnecessary data and to input the target value corresponding to the evaluation index indicated by the unnecessary data.

4. The adjustment support device according to claim 1 or 2, wherein the acquisition unit accepts an input of the target value within a predetermined setting range.

5. The adjustment support device according to claim 1 or 2, wherein the data generation unit generates the index data when the acquisition unit acquires a selection of at least one of the evaluation indexes for each of the plurality of operating conditions.

6. The adjustment support device according to claim 1 or 2, wherein the data generation unit generates the index data by regarding the target value as 0 when input of the target value for the evaluation index acquired by the acquisition unit is not received.

7. The adjustment support device according to claim 1 or 2, wherein the acquisition unit receives a selection of the evaluation index and an input of the target value for each of a plurality of axes along which the driven object moves.

8. An adjustment support method executed by a computer to support the adjustment of a group of control parameters required for a servo control device when the servo control device controls a servo motor, comprising: a display control step of displaying an image related to the adjustment on a display unit; an acquisition step of accepting a selection from a plurality of evaluation indexes provided for a plurality of operating conditions for the operation of an object to be driven by the servo motor, and accepting input of a target value corresponding to the evaluation index provided for each of the plurality of operating conditions and for which a selection has been accepted; and a data generation step of generating index data indicating the evaluation index and the target value for each of the plurality of operating conditions acquired by the acquisition step.

9. A program for causing the computer to execute the adjustment support method according to claim 8.

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