Adjustment assistance device, adjustment assistance method, and program

Abstract

Provided are an adjustment assistance device, an adjustment assistance method, and a program with which it is possible to handle various use cases of a user. The adjustment assistance device (80) assists in adjustment of each value of a control parameter group in a plurality of operation conditions, which are set in a servo control device (40) when the servo control device (40) controls a servo motor (30), in order to search for the optimal value of the control parameter group. The adjustment assistance device (80) comprises: a storage unit (83); and a generation unit (841) that, when a prescribed condition is satisfied, generates a backup file relating to each value of the control parameter group and stores the backup file in the storage unit (83). The backup file includes history data relating to the history of the adjustment and resumption data necessary for resuming the adjustment.

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.

[0002] Currently, production equipment equipped with an object driven by a servo motor is widely used in factories and the like. This servo motor drives the object under the control of a servo control device in which servo information such as operating conditions and a control parameter group is set. The servo control device must control the servo motor so that the object moves to its destination and stops in a short time without vibrating under various operating conditions. In order to find an optimal control parameter group that enables the servo control device to appropriately control the servo motor under such various operating conditions, an adjustment support device that supports adjustment of the control parameter group is required.

[0003] 2. Description of the Related Art Conventionally, there is known a work restart system that allows a machine that performs a plurality of works in sequence to restart from any work (see, for example, Patent Document 1).

[0004] Japanese Patent No. 7173079

[0005] However, no adjustment support device that supports the adjustment of a control parameter group for the work restart system described in Patent Document 1 has been disclosed. In other words, the currently disclosed adjustment support device is a device that, once adjustment begins, cannot interrupt its operation midway through the adjustment of the control parameter group. Furthermore, if an unintended interruption occurs midway through the adjustment of the control parameter group, such as a power outage, the adjustment support device restarts the adjustment of the control parameter group from the beginning. Such adjustment support devices pose a problem in that they cannot accommodate various user use cases.

[0006] Therefore, an object of the present disclosure is to provide an adjustment support device, an adjustment support method, and a program that can accommodate various use cases of users.

[0007] To achieve the above object, an adjustment assistance device according to one embodiment of the present disclosure assists in the adjustment of each value of a group of control parameters in order to search for optimal values ​​of the group of control parameters under multiple operating conditions set in the servo control device when the servo control device controls a servo motor. The adjustment assistance device includes a storage unit and a generation unit that generates a backup file for each value of the group of control parameters when a predetermined condition is met and stores the backup file in the storage unit. The backup file includes history data related to the adjustment history and resume data required to resume the adjustment.

[0008] To achieve the above object, an adjustment assistance method according to one embodiment of the present disclosure is executed by a computer that assists in the adjustment of each value of a control parameter group in order to search for an optimal value of the control parameter group under multiple operating conditions set in the servo control device when the servo control device controls a servo motor. The adjustment assistance method includes a generation step of generating a backup file for each value of the control parameter group and storing the backup file in a storage unit when a predetermined condition is met. The backup file includes history data related to the adjustment history and restart data required to restart the adjustment.

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

[0010] The present disclosure provides an adjustment assistance device, an adjustment assistance method, and a program that can accommodate various use cases of users.

[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 flow of an attempt to search for a control parameter group in a production system according to an embodiment. FIG. 4 is a diagram illustrating an example of an image displayed on a display unit by a control unit showing an adjustment result obtained up to a midpoint of the search in FIG. 3 in an adjustment support device according to an embodiment. FIG. 5 is a diagram illustrating another example of an image displayed on a display unit by a control unit showing an adjustment result obtained up to a midpoint of the search in FIG. 3 in an adjustment support device according to an embodiment. FIG. 6 is a flowchart illustrating an operation of a generation unit when a backup file is generated when a predetermined condition is met. FIG. 7 is a diagram illustrating a table that associates backup files generated by the generation unit with each predetermined condition shown in FIG. 6. FIG. 8 is a flowchart illustrating an operation of a generation unit when the generation unit causes a servo control device to resume adjustment of each value of a control parameter group. FIG. 9 is a diagram illustrating an example of an image displayed on a display unit by a control unit when a resume instruction is received from a second operation unit in step S41 of FIG. 8.

[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 1 according to an embodiment.

[0014] 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 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 set in the servo control device 40 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 each value of a group of control parameters in order to search for optimal values ​​of the group of control parameters under multiple operating conditions that are set in the servo control device 40 when the servo control device 40 controls the servo motor 30. The adjustment support device 80 is a terminal device such as a personal computer installed in a factory, for example, and is operated by a user. The adjustment support device 80 is used to adjust the group of control parameters described above. Note that the search means that the adjustment support device 80 supports the adjustment of each value of the group of control parameters that is performed multiple times, thereby obtaining optimal values ​​of the group of control parameters under multiple operating conditions.

[0023] 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 a group of control parameters for a plurality of 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. In the following description, "adjusting a group of control parameters" refers to adjusting each value of the group of control parameters. The adjustment support device 80 may be included as part of the terminal device described above. The adjustment support device 80 is not limited to the terminal device described above, and may be operated by a user through an interface such as a mouse or keyboard connected to the adjustment support device 80.

[0024] FIG. 2 is a block diagram showing the functional configuration of the production system 1 according to the embodiment.

[0025] 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.

[0026] 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.

[0027] The servo information output unit 42 outputs the servo information acquired by the servo information acquisition unit 41 to the servo motor 30. The servo information output unit 42 is realized by, for example, a communication module or the like.

[0028] The storage unit 43 stores various types of information, programs, etc. The storage unit 43 is realized by, for example, a memory.

[0029] The control unit 44 controls the entire servo control device 40. The control unit 44 is realized by, for example, a processor, etc. That is, the processor executes programs stored in a memory, thereby performing various functions of the servo control device 40.

[0030] 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.

[0031] 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.

[0032] The operation unit 81 includes a first operation unit 811 and a second operation unit 812 .

[0033] The first operation unit 811 receives an instruction from the user to stop adjusting the control parameter group. Stopping means that the adjustment support device 80 causes the servo control device 40 to suspend the adjustment of the control parameters in order to turn off the power to the production system 1.

[0034] The second operation unit 812 accepts a user instruction to temporarily suspend the adjustment of the control parameter group. Suspension means that the servo control device 40 is capable of adjusting the control parameter group, but when a change in the environment surrounding the production apparatus 10 (e.g., a change such as vibration of the production apparatus 10) makes it unsuitable for adjusting the control parameter group, the adjustment assistance device 80 causes the servo control device 40 to temporarily suspend the adjustment of the control parameter group. Suspension differs from suspension in that it is a temporary suspension of the adjustment of the control parameter group, and it is assumed that the adjustment of the control parameter group will be resumed in a shorter time than suspension. The second operation unit 812 also accepts a user instruction to resume the adjustment of the control parameter group. Resume means that the adjustment assistance device 80 causes the servo control device 40 to resume the adjustment of the control parameter group. When resuming the adjustment, the adjustment assistance device 80 causes the servo control device 40 to resume adjustment from the control parameter group that was being adjusted when the adjustment was suspended or suspended.

[0035] The display unit 82 displays various types of information and is realized by, for example, a liquid crystal display.

[0036] 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 store a trained model.

[0037] 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 generation unit 841.

[0038] 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.

[0039] The generation unit 841 generates a backup file for each value of the control parameter group when a predetermined condition is met. The backup file includes, for example, history data related to the history of adjustment of the control parameter group and resume data required to resume the adjustment. The history data is data including the operating conditions and control parameter group used in the adjustment performed from the start of adjustment of the control parameter group until the backup file is generated. The resume data is data including each value of the control parameter group and settling time at the time the backup file is generated. The generation unit 841 stores the generated backup file in the storage unit 83. The predetermined condition will be described in detail later.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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, the adjustment unit 87 adjusts (i.e., optimizes) the control parameter group so that, when the driven object 20 is operated under the operating condition (a), 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 driven object 20 is operated 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 optimal values ​​of the control parameter group in the adjustment of (a). The optimal values ​​of the control parameter group in the adjustment of (a) are control parameters that can achieve a desired target value under the operating condition of (a). 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 operating condition (b) using the control parameter group obtained under the operating condition (a). That is, the adjustment unit 87 operates the driven object 20 under the next operating condition using the control parameter group obtained under the immediately previous operating condition. Then, when the driven object 20 is operated again using the adjusted control parameter group, the adjustment unit 87 again adjusts the control parameter group 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 optimal values ​​of the control parameter group for the adjustment of (b). Similarly, the adjustment unit 87 repeatedly executes the above process for all operating conditions, thereby sequentially searching for optimal values ​​of the control parameter group for a plurality of operating conditions. That is, the adjustment unit 87 executes an algorithm for solving so-called "combinatorial optimization" that searches for a group of control parameters that can achieve a desired target value from among a large number of groups of control parameters.

[0044] 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.

[0045] The adjustment result output unit 88 controls the control unit 84 to output the operating conditions set by the adjustment unit 87 and the group of control parameters adjusted by the adjustment unit 87 to the servo information output unit 89. The adjustment result output unit 88 also controls the control unit 84 to output the operating conditions set by the adjustment unit 87 and the group of control parameters adjusted by the adjustment unit 87 to the display unit 82.

[0046] The servo information output unit 89 outputs (transmits) the servo information including the operating conditions and control parameter group output by the control unit 84 to the production device 10 .

[0047] [Operations for Searching for a Control Parameter Group] 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 parameter group.

[0048] 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).

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] [Image Example] Fig. 4 is a diagram showing an example of an image displayed on the display unit 82 by the control unit 84 of the adjustment support device 80 according to the embodiment when the adjustment results obtained up to the middle of the search in Fig. 3 are displayed by the control unit 84. Fig. 4 is a diagram showing an example of an image displayed when the adjustment unit 87 has completed three adjustments out of a total of 500 adjustments of the control parameter groups and is executing the fourth adjustment.

[0054] The control unit 84 displays an image relating to the adjustment of the control parameter group on the display unit 82. As shown in Fig. 4 , the image relating to the adjustment of the control parameter group includes a first image 101, a second image 102, a third image 103, a fourth image 104, a fifth image 105, a back button 106, and an adjustment result display button 107.

[0055] The first image 101 displays a scatter diagram in which the horizontal axis represents the number of trials performed to adjust a group of control parameters to search for optimal values ​​for the group of control parameters under multiple operating conditions, and the vertical axis represents the settling time for each trial. The adjustment results of the driven object 20 displayed in the scatter diagram are displayed with white circles. Furthermore, among the adjustment results of the driven object 20 displayed in the scatter diagram, the adjustment result with the best evaluation value is displayed with 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 with a diagonally shaded circle in the scatter diagram. The selected adjustment result is displayed as the current evaluation value. Furthermore, the solid line in 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.

[0056] The first image 101 also displays a table showing the settling time and the number of trials at the current evaluation value and the best evaluation value.

[0057] The second image 102 displays a table showing the values ​​of the control parameters used in the number of trials corresponding to the instruction acquired by the operation unit 81 and the values ​​of the control parameters when the best evaluation value was obtained. That is, the second image 102 displays a table showing the values ​​of the control parameters of the adjustment results (i.e., the current evaluation value) in an arbitrary number of trials for the driving target 20 selected by the user in the first image 101 and the values ​​of the control parameters when the best evaluation value was obtained. As shown in Fig. 4, 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 the values ​​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 the values ​​of the control parameter group when the best evaluation value was obtained.

[0058] Furthermore, in the table shown in the second image 102, some control parameter values ​​are displayed in inverted black and white. Specifically, control parameter values ​​for which the difference between each value of the control parameter group used in the adjustment result acquired by the operation unit 81 and each value of the control parameter group when the best evaluation value was obtained exceeds a predetermined value are displayed in inverted black and white. Note that the predetermined value is set to 0 by default, for example, and the user may change this predetermined value as desired. In this way, the control unit 84 can display control parameter values ​​for which the difference between each value of the control parameter group used in the adjustment result acquired by the operation unit 81 and each value of the control parameter group when the best evaluation value was obtained exceeds the predetermined value in a manner that makes it easy for the user to recognize them.

[0059] Also, a selection area 102a having a check box is displayed in the second image 102. The selection area 102a is an area for causing the control unit 84 to display on the display unit 82 an image obtained by changing the table (normal display) displayed in the second image 102 shown in FIG. 4 to a table (not shown) displaying only control parameters whose difference exceeds the predetermined value. That is, when the user selects the selection area 102a (i.e., checks the check box), the operation unit 81 accepts, as a user instruction, an instruction to display only control parameters whose difference exceeds the predetermined value. Then, based on the instruction accepted by the operation unit 81, the control unit 84 displays, on the display unit 82, an image obtained by changing the table displayed in the second image 102 shown in FIG. 4 to a table displaying only control parameters whose difference exceeds the predetermined value. Also, when the user selects the selection area 102a again (i.e., leaves the check box blank), the operation unit 81 accepts, as a user instruction, an instruction not to select displaying only control parameters whose difference exceeds the predetermined value. Then, based on the instruction received by the operation unit 81, the control unit 84 changes the image displayed on the display unit 82 from the table displaying only the control parameters exceeding the predetermined value to the table displayed in the second image 102 shown in Fig. 4. This allows the control unit 84 to display the control parameter values ​​for which the difference between the values ​​of the control parameter group used in the adjustment result acquired by the operation unit 81 and the values ​​of the control parameter group when the best evaluation value was obtained exceeds the predetermined value in a manner that makes it easier for the user to recognize them.

[0060] The third image 103 displays a waveform relating to the operation of the object 20 to be servo-controlled by the servo motor 30 in the number of trials corresponding to the instruction acquired by the operation unit 81. Specifically, a graph is displayed, indicated by a solid line, with the horizontal axis representing elapsed time and the vertical axis representing the position command speed. The vertical axis representing the position command speed is the left vertical axis of the two vertical axes. The value indicated by the position command speed is a value indicating the movement speed of the object 20 to be servo-controlled by the servo motor 30. Furthermore, a graph is displayed, indicated by a dashed line, with the horizontal axis representing elapsed time and the vertical axis representing acceleration. The vertical axis representing acceleration is the right vertical axis of the two vertical axes. The value indicated by the acceleration is a value indicating the acceleration of the object 20 to be servo-controlled by the servo motor 30.

[0061] The fourth image 104 includes a resume button 104a, a pause button 104b, a stop button 104c, and a readjustment display area 104d. Note that, since Fig. 4 is a diagram showing an example image in the middle of adjusting the control parameter group, the pause button 104b and the stop button 104c are displayed in a selectable display mode, and the resume button 104a and the readjustment display area 104d are displayed in a non-selectable display mode (for example, grayscale).

[0062] The resume button 104a is a button for causing the generation unit 841 to resume adjustment of the control parameter group.

[0063] The pause button 104b is a button for causing the generation unit 841 to temporarily suspend the adjustment of the control parameter group.

[0064] The stop button 104c is a button for causing the generation unit 841 to stop adjusting the control parameter group.

[0065] The resume button 104a, pause button 104b, and stop button 104c will be described in detail later.

[0066] The readjustment display area 104d is an area where the user selects which control parameter group adjustment to resume when resuming adjustment of the control parameter group after the adjustment has been stopped or paused. For example, when the user selects a check box in the upper row of the readjustment display area 104d, the second operation unit 812 accepts the selection. Then, based on the selection accepted by the second operation unit 812, the generation unit 841 resumes the adjustment of the control parameter group that has been performed for the number of attempts saved in the backup file. Also, when the user selects a check box in the lower row of the readjustment display area 104d, the second operation unit 812 accepts the selection. Then, based on the selection accepted by the second operation unit 812, the generation unit 841 resumes the adjustment of the control parameter group that has been performed for the elapsed time saved in the backup file.

[0067] The fifth image 105 displays a table showing the progress and the current operating conditions. The progress table displays the time elapsed since the start of adjustment to search for optimal values ​​of the control parameter group under a plurality of operating conditions, and the number of attempts, which indicates how many adjustments have been completed relative to the number of attempts determined by the user. The current adjustment condition table displays the movement direction, movement amount, maximum speed, acceleration / deceleration time, and number of operations of the driven object 20 in the most recent attempt.

[0068] The back button 106 is a button for causing the control unit 84 to transition from the image shown in Fig. 4 to an image (not shown) for setting a group of control parameters and operating conditions. That is, the operation unit 81 accepts the selection by accepting a click of the back button 106 by the user. Based on the selection accepted by the operation unit 81, the control unit 84 transitions the image displayed on the display unit 82 from the image shown in Fig. 4 to an image for setting a group of control parameters and operating conditions. Note that Fig. 4 is a diagram showing an example image in the middle of adjusting a group of control parameters, and therefore the back button 106 is displayed in an unselectable display mode (for example, grayscale).

[0069] The adjustment result display button 107 is a button for causing the control unit 84 to transition from the image shown in Fig. 4 to an image (not shown) displaying the results obtained through the trial shown in Fig. 3. That is, the operation unit 81 accepts the selection by accepting a click on the adjustment result display button 107 by the user. Based on the selection accepted by the operation unit 81, the control unit 84 transitions the image displayed on the display unit 82 from the image shown in Fig. 4 to the image displaying the results obtained through the trial shown in Fig. 3. Note that, because Fig. 4 is a diagram showing an example image in the middle of adjusting the control parameter group, the adjustment result display button 107 is displayed in an unselectable display mode (for example, grayscale).

[0070] The data shown in the fifth image 105 in FIG. 4 corresponds to the resume data included in the backup file.

[0071] Fig. 5 is a diagram showing another example of an image displayed on the display unit 82 by the control unit 84 of the adjustment support device 80 according to the embodiment, showing the adjustment results obtained up to the middle of the search in Fig. 3. Fig. 5 is a diagram showing an example of an image displayed when the adjustment unit 87 has completed 78 adjustments out of a total of 500 adjustments of the control parameter groups, and the generation unit 841 has caused the servo control device 40 to stop or temporarily suspend the adjustment of the control parameter groups.

[0072] The image shown in FIG. 5 differs from the image shown in FIG. 4 in that the resume button 104a, the back button 106, and the adjustment result display button 107 are displayed in a selectable display mode, while the pause button 104b and the stop button 104c are displayed in a non-selectable display mode (e.g., grayscale).

[0073] The data shown in FIGS. 4 and 5 corresponds to the history data included in the backup file.

[0074] As described above, the user can check the history data and can therefore confirm whether the adjustment support device 80 has appropriately adjusted the control parameter group. This allows the adjustment support device 80 to support the user in adjusting the control parameter group.

[0075] [Operations of the Generator When Generating a Backup File] Figure 6 is a flowchart showing operations (i.e., an adjustment support method) performed by the generator 841 when generating a backup file when a predetermined condition is met. The flowchart shown in Figure 6 is a flowchart performed during adjustment of a control parameter group. Note that the predetermined condition being met refers to a case where the answer is Yes in step S21, step S23, step S24, step S26, or step S30, which will be described later. Furthermore, when the predetermined condition is met and the generator 841 generates a backup file, the generator 841 stores the backup file in the storage unit 83.

[0076] First, the generation unit 841 determines whether a certain time has elapsed since the start of adjustment of the control parameter group or since the generation of the previous backup file, or whether the number of adjustments of the control parameter group in the control parameter group adjustment or the number of adjustments of the control parameter group since the generation of the previous backup file has reached a certain number (step S21). Note that the certain time (or the certain number of times) may be a time (or the number of times) set by default in the adjustment support device 80, or may be a time (or the number of times) arbitrarily set by the user.

[0077] If it is determined that a certain time has elapsed or a certain number of times has been reached (Yes in step S21), the generation unit 841 generates a backup file (step S22). Note that since the adjustment support device 80 continues adjusting the control parameter group even after step S22, the generation unit 841 performs the determination in step S21 again.

[0078] If it is determined that a certain time has not elapsed and a certain number of times has not been reached (No in step S21), the generation unit 841 determines whether an abnormality has occurred in the servo control device 40 or the servo motor 30 (step S23).

[0079] If it is determined that an abnormality has occurred (Yes in step S23), the generation unit 841 generates a backup file (step S27). In such a case, the control unit 84 displays a warning image (not shown) on the display unit 82. The generation unit 841 may also cause the servo control device 40 to automatically stop adjusting the control parameter group. The first operation unit 811 may also receive a stop instruction by receiving a click of the stop button 104c by the user, and the generation unit 841 may cause the servo control device 40 to stop adjusting the control parameter group based on the stop instruction received by the first operation unit 811.

[0080] If it is determined that no abnormality has occurred (No in step S23), the generation unit 841 determines whether the first operation unit 811 has received a stop instruction (step S24). Note that the first operation unit 811 receives a stop instruction by receiving a click of the stop button 104c by the user.

[0081] If it is determined that the first operation unit 811 has received a cancellation instruction (Yes in step S24), the generation unit 841 generates a backup file (step S27).Furthermore, the generation unit 841 generates the backup file and causes the servo control device 40 to cancel the adjustment of the control parameter group.

[0082] If it is determined that the first operation unit 811 has not received a stop instruction (No in step S24), the generation unit 841 determines whether the second operation unit 812 has received a pause instruction (step S25). Note that the second operation unit 812 receives a pause instruction by receiving a click of the pause button 104b by the user.

[0083] If it is determined that the second operation unit 812 has not received the instruction to pause (No in step S25), the generation unit 841 determines whether or not a termination condition for the adjustment of the control parameter group has been satisfied (step S26). The termination condition for the adjustment of the control parameter group is, for example, whether or not the number of attempts to adjust the control parameter group performed by the adjustment support device 80 has reached a preset number of attempts.

[0084] If it is determined that the condition for ending the adjustment of the control parameter group is satisfied (Yes in step S26), the generation unit 841 generates a backup file (step S27). Note that in step S27, the adjustment support device 80 ends the adjustment of the control parameter group.

[0085] If it is determined that the condition for ending the adjustment of the control parameter group is not satisfied (No in step S26), the adjustment support device 80 continues adjusting the control parameter group, and the generation unit 841 therefore performs the determination in step S21 again.

[0086] If it is determined that the second operation unit 812 has received the instruction to pause (Yes in step S25), the generation unit 841 causes the servo control device 40 to pause the adjustment of the control parameter group and wait for the adjustment of the control parameter group to resume (step S28). Note that the generation unit 841 does not generate a backup file in step S28.

[0087] Next, the generation unit 841 determines whether the second operation unit 812 has received a restart instruction (step S29). Note that the second operation unit 812 receives a restart instruction by receiving a click of the restart button 104a by the user.

[0088] If it is determined that the second operation unit 812 has received an instruction to resume (Yes in step S29), the adjustment support device 80 resumes the adjustment of the control parameter group, and the generation unit 841 therefore performs the determination in step S21 again.

[0089] If it is determined that the second operation unit 812 has not received an instruction to resume (No in step S29), the generation unit 841 determines whether the second operation unit 812 has received an instruction to cancel (step S30).

[0090] If it is determined that the second operation unit 812 has not received a stop instruction (No in step S30), the generation unit 841 causes the servo control device 40 to wait for the resumption of adjustment of the control parameter group (step S28).

[0091] If it is determined that the second operation unit 812 has received the instruction to stop (Yes in step S30), the generation unit 841 generates a backup file (step S27). Furthermore, the generation unit 841 generates the backup file and causes the servo control device 40 to stop adjusting the control parameter group.

[0092] As explained above, the generating unit 841 generates a backup file when a predetermined condition is met, and the adjustment support device 80 can use the history data and resume data included in the backup file. For example, the adjustment support device 80 can use the history data and resume data included in the backup file when an unintended interruption of the adjustment of the control parameter group occurs due to a power outage of the adjustment support device 80 or the like, when outputting the history of the adjustment of the control parameter group to the user, or when an abnormality in the servo control device 40 or the servo motor 30 is resolved, etc.

[0093] In addition, the first operation unit 811 can accept a stop instruction at any time from the stop button 104c, so the adjustment support device 80 can stop the adjustment of the control parameter group according to the user's schedule.

[0094] Furthermore, the user can check the warning screen displayed on the display unit 82, and can recognize that an abnormality has occurred in the servo control device 40 or the servo motor 30. This allows the adjustment support device 80 to support the user in dealing with the abnormality.

[0095] In addition, the second operation unit 812 can accept a pause instruction at any timing from the pause button 104b, so the adjustment support device 80 can pause the adjustment of the control parameter group according to the user's schedule.

[0096] Furthermore, since the second operation unit 812 can accept an instruction to resume at any timing, the adjustment support device 80 can be adapted to the user's schedule.

[0097] Furthermore, since the first operation unit 811 can accept an instruction to stop the adjustment of the control parameter group while the adjustment of the control parameter group is temporarily suspended, the adjustment support device 80 can stop the adjustment of the control parameter group in accordance with the user's schedule.

[0098] [Types of Backup Files] Fig. 7 is a diagram showing a table associating backup files generated by the generation unit 841 under each of the predetermined conditions shown in Fig. 6. Note that the file names of the backup files shown in Fig. 7 are examples.

[0099] As shown in FIG. 7 , the generation unit 841 generates two types of backup files. The generation unit 841 can generate one of each of the two types of backup files in each search for the best control parameter group. In other words, the generation unit 841 does not generate multiple backup files of the same type. When generating a backup file, if a backup file of the same type is stored in the storage unit 83, the generation unit 841 updates the backup file of the same type stored in the storage unit 83 to generate a new backup file.

[0100] The backup files shown in the upper row are backup files that are generated only when a certain amount of time has passed or when a certain number of times has been reached (i.e., when Yes is returned in step S21 of FIG. 6). On the other hand, the backup files shown in the lower row are backup files that are generated when a certain amount of time has passed or when a certain number of times has been reached, when an abnormality occurs, when the operation is stopped, or when adjustment is completed (i.e., when Yes is returned in step S21, step S23, step S24, or step S26 of FIG. 6). In other words, the generation unit 841 generates two types of backup files shown in the upper and lower rows when a certain amount of time has passed or when a certain number of times has been reached.

[0101] [Operations When Generator Resumes Adjustment of Control Parameter Group] Fig. 8 is a flowchart showing operations when the generator 841 causes the servo control device 40 to resume adjustment of each value of the control parameter group. Fig. 8 is a flowchart showing operations when the generator 841 reads the backup file shown in Fig. 7 and causes the servo control device 40 to resume adjustment of the control parameter group. Note that Fig. 8 does not include operations when the generator 841 causes the servo control device 40 to resume adjustment of the control parameter group after the second operation unit 812 receives a pause instruction and the generator 841 causes the servo control device 40 to temporarily suspend adjustment of the control parameter group.

[0102] First, the generation unit 841 determines whether the second operation unit 812 has received a restart instruction (step S41).

[0103] If it is determined that the second operation unit 812 has not received the instruction to resume (No in step S41), the generation unit 841 causes the servo control device 40 to wait for the resumption of adjustment of the control parameter group (No in step S42).Then, the generation unit 841 performs the determination in step S41 again.

[0104] If it is determined that the second operation unit 812 has received a restart instruction (Yes in step S41), the generation unit 841 reads the backup file from the memory unit 83 and causes the servo control device 40 to restart adjusting the control parameter group by referring to the restart data contained in the backup file (step S43).

[0105] As described above, the adjustment support device 80 can resume the adjustment of the control parameter group by referring to the backup file generated by the generation unit 841. This eliminates the need for the adjustment support device 80 to restart the adjustment of the control parameter group from the beginning, and can improve the efficiency of the adjustment of the control parameter group.

[0106] [Example of image when restart instruction is accepted] Fig. 9 is a diagram showing an example of an image that the control unit 84 displays on the display unit 82 when the second operation unit 812 accepts the restart instruction in step S41 of Fig. 8. Note that Fig. 9 is a diagram showing an example of an image that the control unit 84 displays on the display unit 82 after the second operation unit 812 accepts a click on the restart button 104a included in the image shown in Fig. 5.

[0107] 9, the control unit 84 displays a sixth image 108 on the display unit 82, superimposed on the image shown in Fig. 5. The sixth image 108 includes a backup file display area 108a and a next button 108b.

[0108] The backup file display area 108a is an area that displays a table showing file names and update dates and times. The backup file display area 108a displays backup files generated by the generation unit 841 in the flowchart of FIG. 6. The file names of the backup files are displayed in the left column of the table, and the update dates and times of the backup files (i.e., the dates and times when the backup files were generated) are displayed in the right column. The backup files displayed in the upper row of the backup file display area 108a are the backup files shown in the upper row of the table in FIG. 7, and the backup files displayed in the lower row of the backup file display area 108a are the backup files shown in the lower row of the table in FIG. 7.

[0109] The file names displayed in the backup file display area 108a are displayed in a selectable display format. That is, the second operation unit 812 accepts the selection of a backup file by accepting a click on the backup file by the user. Note that a check box may be provided to the left of each backup file, and the second operation unit 812 may accept the selection of the backup file corresponding to the check box by accepting a click on the check box by the user.

[0110] The Next button 108b is a button for causing the generation unit 841 to resume adjusting the control parameter group based on the backup file selected in the backup file display area 108a. That is, the second operation unit 812 accepts a resume instruction by accepting a click of the Next button 108b by the user. Then, based on the resume instruction accepted by the second operation unit 812, the generation unit 841 causes the servo control device 40 to resume adjusting the control parameter group.

[0111] [Effect] The adjustment assistance device 80 according to this embodiment is an adjustment assistance device 80 that assists in the adjustment of each value of a control parameter group in order to search for an optimal value of the control parameter group 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, and includes a memory unit 83 and a generation unit 841 that generates a backup file for each value of the control parameter group when a predetermined condition is met and stores the backup file in the memory unit 83, and the backup file includes history data relating to the adjustment history and restart data required to restart the adjustment.

[0112] With this configuration, the generation unit 841 generates a backup file when a predetermined condition is met, and the adjustment support device 80 can use the history data and resumption data included in the backup file. By using the history data and resumption data, the adjustment support device 80 can respond to various use cases of users.

[0113] Furthermore, in the adjustment support device 80 according to this embodiment, a predetermined condition is met when a certain amount of time has elapsed since the start of adjustment or since the previous backup file was generated, or when the number of adjustments since the start of adjustment or the number of adjustments since the previous backup file was generated reaches a certain number.

[0114] With this configuration, the adjustment support device 80 can use the history data and resumption data included in the backup file when the adjustment of the control parameter group is interrupted unintentionally by the user, for example, due to a power outage of the adjustment support device 80. By using the history data and resumption data, the adjustment support device 80 can accommodate various use cases of users.

[0115] In addition, in the adjustment support device 80 according to this embodiment, the case where a predetermined condition is met means the case where the search is completed.

[0116] With this configuration, the adjustment support device 80 can use the history data included in the backup file when outputting the history of adjustment of the control parameter group to the user. By using the history data, the adjustment support device 80 can respond to various use cases of the user.

[0117] Furthermore, in the adjustment assisting device 80 according to this embodiment, the case where a predetermined condition is met is when an abnormality occurs in the servo control device 40 or the servo motor 30 during adjustment.

[0118] With this configuration, the adjustment support device 80 can use the history data and resumption data included in the backup file when, for example, an abnormality in the servo control device 40 or the servo motor 30 is resolved. By using the history data and resumption data, the adjustment support device 80 can accommodate various use cases of users.

[0119] In addition, the adjustment support device 80 according to this embodiment further includes a first operation unit 811 that receives an instruction to stop the adjustment, and when a predetermined condition is met, this is when the first operation unit 811 receives an instruction to stop, and when the first operation unit 811 receives an instruction to stop, the generation unit 841 causes the servo control device 40 to stop the adjustment.

[0120] With this configuration, the first operation unit 811 can accept a stop instruction at any timing, and the adjustment support device 80 can stop the adjustment of the control parameter group according to the user's schedule. This allows the adjustment support device 80 to accommodate various use cases of users.

[0121] In addition, the adjustment support device 80 of this embodiment further includes a display unit 82 and a control unit 84 that displays an image related to the adjustment on the display unit 82, and the control unit 84 displays a warning image on the display unit 82 when an abnormality occurs.

[0122] With this configuration, the user can check the warning screen displayed on the display unit 82, and can recognize that an abnormality has occurred in the servo control device 40 or the servo motor 30. This allows the adjustment support device 80 to support the user in dealing with the abnormality.

[0123] In addition, the adjustment support device 80 according to this embodiment further includes a display unit 82 and a control unit 84 that displays an image including a stop button 104c on the display unit 82, and the first operation unit 811 accepts a stop instruction from the stop button 104c.

[0124] With this configuration, the first operation unit 811 can accept a stop instruction at any timing from the stop button 104c, so that the adjustment support device 80 can stop the adjustment of the control parameter group according to the user's schedule. This allows the adjustment support device 80 to accommodate various use cases of users.

[0125] In addition, the adjustment support device 80 according to this embodiment further includes a display unit 82 and a control unit 84 that displays an image related to the adjustment on the display unit 82, and the control unit 84 displays an image including history data on the display unit 82.

[0126] With this configuration, the user can check the history data and can confirm whether the adjustment support device 80 has appropriately adjusted the control parameter group, thereby enabling the adjustment support device 80 to support the user in adjusting the control parameter group.

[0127] In addition, the adjustment support device 80 according to this embodiment further includes a second operation unit 812 that receives an instruction to resume adjustment, and when the second operation unit 812 receives an instruction to resume, the generation unit 841 reads the backup file from the memory unit 83 and causes the servo control device 40 to resume adjustment by referring to the resume data contained in the backup file.

[0128] With this configuration, the adjustment support device 80 can resume adjustment of the control parameter group by referring to the backup file generated by the generation unit 841. This eliminates the need for the adjustment support device 80 to restart adjustment of the control parameter group from the beginning, thereby improving the efficiency of adjustment of the control parameter group. Thus, the adjustment support device 80 can accommodate various use cases of users.

[0129] In addition, the adjustment support device 80 according to this embodiment further includes a second operation unit 812 that accepts an instruction to temporarily suspend the adjustment, and when the second operation unit 812 accepts the instruction to temporarily suspend the adjustment, the generation unit 841 causes the servo control device 40 to temporarily suspend the adjustment and does not generate a backup file.

[0130] With this configuration, the second operation unit 812 can accept a pause instruction at any timing, and the adjustment support device 80 can pause the adjustment of the control parameter group according to the user's schedule. This allows the adjustment support device 80 to accommodate various use cases of users.

[0131] In addition, the adjustment support device 80 according to this embodiment further includes a second operation unit 812 that accepts an instruction to temporarily suspend the adjustment, the control unit 84 displays an image including a pause button on the display unit 82, the second operation unit 812 accepts the instruction to temporarily suspend from the pause button 104b, and the generation unit 841 does not generate a backup file when the second operation unit 812 accepts the instruction to temporarily suspend.

[0132] With this configuration, the second operation unit 812 can accept a pause instruction at any timing from the pause button 104b, so that the adjustment support device 80 can pause the adjustment of the control parameter group according to the user's schedule. This allows the adjustment support device 80 to accommodate various use cases of users.

[0133] Furthermore, in the adjustment support device 80 according to this embodiment, when the second operation unit 812 receives a press of the pause button, the generation unit 841 causes the servo control device 40 to wait before resuming adjustment until the second operation unit 812 receives an instruction to resume.

[0134] With this configuration, the second operation unit 812 can accept a restart instruction at any timing, so the adjustment support device 80 can be tailored to the user's schedule. This allows the adjustment support device 80 to accommodate various use cases of users.

[0135] In addition, in the adjustment support device 80 according to this embodiment, the generation unit 841 generates a backup file when the first operation unit 811 receives an instruction to cancel after the second operation unit 812 receives an instruction to pause.

[0136] With this configuration, the first operation unit 811 can accept a stop instruction while the adjustment of the control parameter group is temporarily stopped, and the adjustment support device 80 can stop the adjustment of the control parameter group according to the user's schedule. This allows the adjustment support device 80 to accommodate various use cases of users.

[0137] Furthermore, the adjustment assistance method according to this embodiment is an adjustment assistance method executed by a computer that assists in the adjustment of each value of a group of control parameters in order to search for an optimal value of the 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, and includes a generation step of generating a backup file for each value of the group of control parameters and storing the backup file in the memory unit 83 when a predetermined condition is met, and the backup file includes history data regarding the adjustment history and restart data required to restart the adjustment.

[0138] With this configuration, the adjustment support method generates a backup file when a predetermined condition is met in the generation step, and the adjustment support method can use the history data and resumption data included in the backup file. By using the history data and resumption data, the adjustment support method can accommodate various use cases of users.

[0139] The program according to the present embodiment causes a computer to execute an adjustment support method.

[0140] This configuration allows the computer to respond to various use cases of users according to the program.

[0141] [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.

[0142] 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.

[0143] 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.

[0144] 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.

[0145] [Additional Notes] The above description of the embodiments discloses the following techniques.

[0146] (Technology 1) An adjustment assistance device (80) that assists in adjusting each value of a group of control parameters in order to search for an optimal value of the group of control parameters under a plurality of operating conditions set in a servo control device (40) when the servo control device (40) controls a servo motor (30), the adjustment assistance device (80) comprising: a memory unit (83); and a generation unit (841) that generates a backup file relating to each value of the group of control parameters when a predetermined condition is met and stores the backup file in the memory unit (83), the backup file including history data relating to the history of the adjustment and restart data required to restart the adjustment.

[0147] (Technology 2) The case where the specified condition is met is when a certain time has elapsed since the start of the adjustment or the time since the previous backup file was generated, or when the number of adjustments since the start of the adjustment or the number of adjustments since the previous backup file was generated reaches a certain number, in the adjustment support device (80) described in Technology 1.

[0148] (Technology 3) The adjustment support device (80) according to Technology 1, wherein the case where the predetermined condition is met is the case where the search is completed.

[0149] (Technology 4) The adjustment support device (80) according to Technology 1, wherein the case where the predetermined condition is met is when an abnormality occurs in the servo control device (40) or the servo motor (30) during the adjustment.

[0150] (Technology 5) The adjustment support device (80) described in Technology 1 further includes a first operation unit (811) that receives an instruction to stop the adjustment, and when the predetermined condition is met, the first operation unit (811) receives the instruction to stop, and when the first operation unit (811) receives the instruction to stop, the generation unit (841) causes the servo control device (40) to stop the adjustment.

[0151] (Technology 6) The adjustment support device (80) described in Technology 4 further includes a display unit (82) and a control unit (84) that displays an image related to the adjustment on the display unit (82), and the control unit (84) displays a warning image on the display unit (82) when the abnormality occurs.

[0152] (Technology 7) The adjustment support device (80) described in Technology 5 further includes a display unit (82) and a control unit (84) that displays an image including a stop button on the display unit (82), and the first operation unit (811) accepts the stop instruction from the stop button.

[0153] (Technology 8) The adjustment support device (80) described in any one of Technologies 1 to 5 further includes a display unit (82) and a control unit (84) that displays an image related to the adjustment on the display unit (82), and the control unit (84) displays the image including the history data on the display unit (82).

[0154] (Technology 9) The adjustment support device (80) according to any one of Technologies 1 to 8, further comprising a second operation unit (812) that receives an instruction to resume the adjustment, and when the second operation unit (812) receives the instruction to resume, the generation unit (841) reads the backup file from the storage unit (83) and causes the servo control device (40) to resume the adjustment by referring to the resume data included in the backup file.

[0155] (Technology 10) The adjustment support device (80) described in any one of Technologies 1 to 8 further includes a second operation unit (812) that receives an instruction to temporarily suspend the adjustment, and when the second operation unit (812) receives the instruction to temporarily suspend, the generation unit (841) causes the servo control device (40) to temporarily suspend the adjustment and does not generate the backup file.

[0156] (Technology 11) The adjustment support device (80) described in Technology 7 further includes a second operation unit (812) that receives an instruction to temporarily suspend the adjustment, wherein the control unit (84) displays an image including a pause button on the display unit (82), the second operation unit (812) receives the instruction to temporarily suspend from the pause button, and the generation unit (841) does not generate the backup file when the second operation unit (812) receives the instruction to temporarily suspend.

[0157] (Technology 12) The adjustment support device (80) described in Technology 11, wherein when the second operation unit (812) receives a press of the pause button, the generation unit (841) causes the servo control device (40) to wait for the resumption of the adjustment until the second operation unit (812) receives an instruction to resume.

[0158] (Technology 13) The adjustment support device (80) described in Technology 11 or 12, wherein the generation unit (841) generates the backup file when the first operation unit (811) receives the instruction to cancel after the second operation unit (812) receives the instruction to pause.

[0159] (Technology 14) An adjustment support method executed by a computer that supports the adjustment of each value of a group of control parameters in order to search for an optimal value of the group of control parameters under a plurality of operating conditions set in a servo control device (40) when the servo control device (40) controls a servo motor (30), the adjustment support method including a generation step of generating a backup file for each value of the group of control parameters and storing the backup file in a memory unit when a predetermined condition is met, the backup file including history data regarding the history of the adjustment and restart data required to restart the adjustment.

[0160] (Technology 15) A program for causing the computer to execute the adjustment support method according to Technology 14.

[0161] The adjustment assistance device according to the present disclosure is useful, for example, as a device that assists in the adjustment of each value of a group of control parameters. Furthermore, the adjustment assistance method according to the present disclosure can accommodate various use cases of users for the adjustment assistance device. The program according to the present embodiment can cause a computer to execute the adjustment assistance method. In this way, the adjustment assistance device, adjustment assistance method, and program according to the present disclosure are industrially useful.

[0162] 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 Adjustment support device 81 Operation unit 811 First operation unit 812 Second operation unit 82 Display unit 83 Memory unit 84 Control unit 841 Generation unit 85 Setting unit 86 Operation result acquisition unit 87 Adjustment unit 88 Adjustment result output unit 89 Servo information output unit 101 First image 102 Second image 102a Selection area 103 Third image 104 Fourth image 104a Resume button 104b Pause button 104c Cancel button 104d Readjustment display area 105 Fifth image 106 Back button 107 Adjustment result display button 108 Sixth image 108a Backup file display area 108b Next button

Claims

1. An adjustment support device that assists in adjusting each value of a control parameter group among a plurality of operating conditions set in the servo control device when the servo control device controls a servo motor, the adjustment support device comprising: a storage unit; and a generation unit that generates a backup file for each value of the control parameter group and stores the backup file in the storage unit when a predetermined condition is satisfied, wherein the backup file includes history data regarding the history of the adjustment and restart data necessary for restarting the adjustment.

2. The adjustment support device according to claim 1, wherein the case where the predetermined condition is satisfied is a case where a certain period of time has elapsed since the start of the adjustment or since the generation of the immediately preceding backup file, or a case where the number of adjustments since the start of the adjustment or since the generation of the immediately preceding backup file has reached a certain number.

3. The adjustment support device according to claim 1, wherein the case where the predetermined condition is satisfied is a case where the search has ended.

4. The adjustment support device according to claim 1, wherein the case where the predetermined condition is satisfied is a case where an abnormality has occurred in the servo control device or the servo motor during the adjustment.

5. Further comprising a first operation unit that receives an instruction to stop the adjustment, wherein the case where the predetermined condition is satisfied is a case where the first operation unit has received the stop instruction, and the generation unit causes the servo control device to stop the adjustment when the first operation unit has received the stop instruction.

6. Further comprising a display unit and a control unit that displays an image regarding the adjustment on the display unit, wherein the control unit displays a warning image on the display unit when the abnormality has occurred.

7. Further comprising a display unit and a control unit that displays an image including a stop button on the display unit, wherein the first operation unit receives the stop instruction from the stop button.

8. Further comprising a display unit and a control unit that displays an image regarding the adjustment on the display unit, wherein the control unit displays the image including the history data on the display unit.

9. Further, it comprises a second operation unit that receives an instruction to resume the adjustment. When the second operation unit receives the resumption instruction, the generation unit reads the backup file from the storage unit, refers to the resumption data included in the backup file, and causes the servo control device to resume the adjustment. The adjustment support device according to any one of claims 1 to 7.

10. Further, it comprises a second operation unit that receives an instruction to temporarily stop the adjustment. When the second operation unit receives the temporary stop instruction, the generation unit causes the servo control device to temporarily stop the adjustment and does not generate the backup file. The adjustment support device according to any one of claims 1 to 7.

11. Further, it comprises a second operation unit that receives an instruction to temporarily stop the adjustment. The control unit displays an image including a temporary stop button on the display unit. The second operation unit receives the temporary stop instruction from the temporary stop button. When the second operation unit receives the temporary stop instruction, the generation unit does not generate the backup file. The adjustment support device according to claim 7.

12. When the second operation unit receives the pressing of the temporary stop button, the generation unit causes the servo control device to wait for the resumption of the adjustment until the second operation unit receives the resumption instruction. The adjustment support device according to claim 11.

13. When the first operation unit receives the cancellation instruction after the second operation unit receives the temporary stop instruction, the generation unit generates the backup file. The adjustment support device according to claim 11 or 12.

14. An adjustment support method executed by a computer to assist in adjusting each value of a control parameter group in a plurality of operating conditions set in the servo control device when the servo control device controls a servo motor. The method includes a generation step of generating a backup file for each value of the control parameter group when a predetermined condition is satisfied and storing it in a storage unit. The backup file includes history data related to the history of the adjustment and resumption data required for resuming the adjustment. The adjustment support method.

15. A program for causing the computer to execute the adjustment support method according to claim 14.

Images