Servo amplifier adjustment method, program, and servo amplifier adjustment device

Abstract

This servo amplifier adjustment method adjusts a parameter set for a servo amplifier that controls a servo motor for driving a load. The servo amplifier adjustment method includes a first step, a second step, and a third step. In the first step, a list including a plurality of adjustment functions that each adjust a parameter and have mutually different adjustment accuracies is output by an output unit. In the second step, input of an operation for selecting one adjustment function from the list output by the output unit is received. In the third step, a parameter is adjusted on the basis of the one adjustment function selected by means of the operation received in the second step.

Description

Servo amplifier adjustment method, program, and servo amplifier adjustment device

[0001] The present disclosure generally relates to a servo amplifier adjustment method, a program, and a servo amplifier adjustment device, and more particularly to a servo amplifier adjustment method, a program, and a servo amplifier adjustment device that adjust parameters set in a servo amplifier that controls a servo motor that drives a load.

[0002] The management device (servo amplifier adjustment device) described in Patent Document 1 manages tasks performed on a motor amplifier that controls a motor. With this management device, a user uses the management device's GUI (Graphical User Interface) to create a workflow by arranging icons representing each task in the order of the tasks. The management device then causes the motor amplifier to execute the workflow created by the user.

[0003] The management device described in Patent Document 1 requires users to create workflows themselves. Therefore, creating a workflow takes time. Furthermore, creating a workflow is difficult for users who are not familiar with the motor amplifiers that control the motors, because they cannot determine which tasks should be performed in what order.

[0004] JP 2023-65825 A

[0005] In view of the above problems, an object of the present disclosure is to provide a servo amplifier adjustment method, program, and servo amplifier adjustment device that allow even a user who is not familiar with servo amplifiers that control servo motors that drive loads to easily adjust parameters set in the servo amplifier.

[0006] A servo amplifier adjustment method according to one aspect of the present disclosure adjusts parameters set in a servo amplifier that controls a servo motor that drives a load. The servo amplifier adjustment method includes a first step, a second step, and a third step. In the first step, an output unit outputs a list including multiple adjustment functions that adjust the parameters, the multiple adjustment functions having different adjustment accuracies. In the second step, an input of an operation for selecting one adjustment function from the list output from the output unit is accepted. In the third step, the parameters are adjusted based on the one adjustment function selected by the operation accepted in the second step.

[0007] A program according to another aspect of the present disclosure is a program for causing one or more processors to execute the servo amplifier adjustment method.

[0008] A servo amplifier adjustment device according to another aspect of the present disclosure adjusts parameters set in a servo amplifier that controls a servo motor that drives a load. The servo amplifier adjustment device includes an output unit, an operation input unit, and a processing unit. The output unit outputs a list including multiple functions that adjust the parameters, the multiple adjustment functions having different adjustment accuracies. The operation input unit accepts an input operation for selecting one adjustment function from the list output from the output unit. The processing unit adjusts the parameters based on the one adjustment function selected by the operation input to the operation input unit.

[0009] The servo amplifier adjustment method, program, and servo amplifier adjustment device according to one aspect of the present disclosure have the advantage that even users who are not familiar with servo amplifiers can easily adjust the parameters set in the servo amplifier.

[0010] Fig. 1 is a diagram showing the configuration of a servo amplifier adjustment device and a load to be driven according to an embodiment. Fig. 2 is an explanatory diagram showing an example of a list screen displayed on a display unit of the servo amplifier adjustment device. Fig. 3 is a flowchart showing the operation of the servo amplifier adjustment device.

[0011] A servo amplifier adjusting method and a servo amplifier adjusting device according to an embodiment will be described below with reference to the drawings.

[0012] (Embodiment) (1) Overview A servo amplifier adjustment method according to this embodiment will be described with reference to FIGS. 1 and 3. FIG. 1 is a configuration diagram showing the configuration of a servo amplifier adjustment device 1 and a load 2 to be driven according to this embodiment. FIG. 3 is a flowchart explaining the operation of the servo amplifier adjustment device 1. As shown in FIGS. 1 and 3, the servo amplifier adjustment method according to this embodiment adjusts parameters set in a servo amplifier 23 that controls a servo motor 21 that drives the load 2. The servo amplifier adjustment method includes a first step S21, a second step S22, and a third step S23. In the first step S21, the servo amplifier adjustment device 1 outputs (displays, in this embodiment) from an output unit (display unit 13 in this embodiment) a list including multiple functions for adjusting parameters, each of which has different adjustment accuracy. In the second step S22, the servo amplifier adjustment device 1 accepts an input operation for selecting an adjustment function from the list output from the output unit. In the third step S23, the servo amplifier adjustment device 1 adjusts parameters based on the adjustment function selected by the operation accepted in the second step S22.

[0013] According to this configuration, when an adjustment function is selected from the list output (displayed) from the output unit (display unit 13), the parameters can be adjusted based on the selected adjustment function. Therefore, even a user who is not familiar with the servo amplifier 23 can easily adjust the parameters set in the servo amplifier 23.

[0014] (2) Detailed Description A servo amplifier adjustment device 1 to which the servo amplifier adjustment method according to this embodiment is applied will be described with reference to Fig. 1. As shown in Fig. 1, the servo amplifier adjustment device 1 adjusts parameters set in a servo amplifier 23 that controls a servo motor 21 that drives a load 2.

[0015] (2-1) Details of Load 2 The load 2 is a robot for transporting or moving a predetermined object (for example, a robot that moves in one direction, two directions (X and Y), or three directions (X, Y, and Z), or an articulated robot), or a manufacturing device such as a machine tool or semiconductor manufacturing device. The load 2 includes one or more servo motors 21 (one in the example of FIG. 1), an encoder 22, and a servo amplifier 23.

[0016] The servo motor 21 is a drive source for driving the load 2. The servo motor 21 operates under the control of a servo amplifier 23. The encoder 22 detects the rotation angle of the servo motor 21 and outputs the detected value to the servo amplifier 23 as an electric signal.

[0017] The servo amplifier 23 is a device that controls the servo motor 21 to control the load 2. The servo amplifier 23 controls the load 2 to operate in a predetermined operation pattern by operating the servo motor 21 at set values ​​of an operation waveform based on the detection value of the encoder 22. Note that the "operation waveform" may be, for example, a waveform (also called a positioning waveform) that shows the time change of the rotation angle, rotation speed, torque, or frequency of the servo motor 21, or a waveform (also called a frequency characteristic) of the gain of the servo motor 21 relative to the frequency.

[0018] The servo amplifier 23 includes a storage unit 231 and a processing unit 232 .

[0019] The storage unit 231 is a non-volatile storage device and is configured, for example, by an SSD (Solid State Drive) or an HDD (Hard Disk Drive). The storage unit 231 stores various programs and various information used by the processing unit 232 of the servo amplifier 23. The various information includes parameter setting values, as well as setting values ​​and measured values ​​of the operating waveform of the servo motor 21. The parameters are parameters set in the servo amplifier 23. The parameters are one or more parameters. The parameters include parameters related to the gain, inertia, etc. of the servo motor 21. The measured values ​​of the operating waveform of the servo motor 21 are the operating waveform of the servo amplifier 23 measured when the servo amplifier 23 is operated based on the setting values ​​of the operating waveform.

[0020] The processing unit 232 is mainly composed of a computer having, for example, a CPU (Central Processing Unit) and a memory. The processing unit 232 realizes various functions by having the CPU execute a program stored in the memory. The program may be pre-recorded in the computer's memory, may be provided by being recorded on a recording medium such as a memory card, or may be provided via a telecommunications line such as the Internet.

[0021] The processing unit 232 controls the servo motor 21. More specifically, the processing unit 232 generates a control signal based on the setting values ​​of the operating waveform and the setting values ​​of the parameters stored in the storage unit 231, and controls the servo motor 21 using the generated control signal. In this case, the processing unit 232 controls the servo motor 21 using, for example, PWM (Pulse Width Modulation) control. More specifically, the processing unit 232 sets the setting value of the operating waveform as a target value and generates a control signal based on the setting values ​​of the parameters stored in the storage unit 231 so that the operating waveform of the servo motor 21 matches the target value. The processing unit 232 controls the servo motor 21 using the generated control signal. As a result, the processing unit 232 controls the servo motor 21 so that the operating waveform of the servo motor 21 matches the setting value of the operating waveform. Through this control, the load 2 operates according to a predetermined operating pattern.

[0022] While controlling the servo motor 21, the processing unit 232 measures the operational waveform of the servo motor 21 based on the detected value of the encoder 22. The processing unit 232 stores the measured values ​​of the operational waveform in the storage unit 231.

[0023] The processing unit 232 changes the setting values ​​of the parameters stored in the storage unit 231 in accordance with control from an external device (for example, the servo amplifier adjustment device 1). When the setting values ​​of the parameters are input from the external device, the processing unit 232 changes the setting values ​​of the parameters stored in the storage unit 231 to the input setting values. After changing the setting values ​​of the parameters, the processing unit 232 controls the servo motor 21 using the changed setting values ​​of the parameters.

[0024] The processing unit 232 outputs various information (e.g., parameter setting values, operating waveform setting values ​​and measurement values, etc.) stored in the memory unit 231 to an external device (e.g., servo amplifier adjustment device 1) in response to control from the external device.

[0025] (2-2) Details of the Servo Amplifier Adjustment Device As shown in FIG. 1, the servo amplifier adjustment device 1 includes a storage unit 11, an operation input unit 12, a display unit 13 (output unit), and a processing unit .

[0026] The storage unit 11 is a non-volatile storage device, and is configured, for example, with an SSD or HDD. The storage unit 11 stores various programs and various information used by the processing unit 14. The various information includes screen information of a list screen G1 (see FIG. 2 described later), a result screen, and a manual setting screen. The various information includes various information output from the servo amplifier 23 to the servo amplifier adjustment device 1.

[0027] Here, the list screen G1, the result screen, and the manual setting screen will be briefly described.

[0028] The list screen G1 is a screen that displays a list including a plurality of adjustment functions. Each of the plurality of adjustment functions is a function that adjusts parameters set in the servo amplifier 23. The plurality of adjustment functions have different adjustment accuracies for adjusting the parameters. "Adjustment accuracy" refers to, for example, the degree of agreement (also referred to as similarity) between the measured value and the set value of the operating waveform of the servo motor 21. In other words, the closer the measured value of the operating waveform of the servo motor 21 is to the set value of the operating waveform, the higher the adjustment accuracy.

[0029] The result screen is a screen that displays the results of adjusting parameters using one adjustment function selected from the list. The result screen includes the set values ​​and measured values ​​of the operating waveform of the servo motor 21. The result screen may further include the set values ​​of the parameters before and after adjustment.

[0030] The manual setting screen is a screen for manually setting (adjusting) the set values ​​of the parameters set in the servo amplifier 23. The manual setting screen includes an input field for manually inputting the set values ​​of the parameters. The user can input the desired set values ​​into the input field by operating the operation input unit 12.

[0031] The operation input unit 12 is a device that accepts user operation input to the servo amplifier adjustment device 1. The operation input unit 12 may be an input device having physical keys (e.g., a keyboard), or may be a touch panel sensor that is arranged in front of the display unit 13 and detects the position of a touch on the display unit 13. The operation input unit 12 accepts operation input for adjusting the setting values ​​of parameters set in the servo amplifier 23. Specifically, the operation input unit 12 accepts operation input for selecting and executing one adjustment function from the list displayed on the list screen G1.

[0032] The display unit 13 is an example of an output unit that outputs the list and the parameter adjustment results. The display unit 13 is a display device that can display various types of information. The display unit 13 is, for example, a liquid crystal display device. The display unit 13 displays various display screens. The various display screens include the list screen G1, the result screen, and a manual setting screen.

[0033] The processing unit 14 is mainly composed of a computer having a CPU and memory. The processing unit 14 realizes various functions by having the CPU execute a program stored in the memory. The program may be pre-recorded in the computer's memory, may be provided by being recorded on a recording medium such as a memory card, or may be provided via a telecommunications line such as the Internet.

[0034] The processing unit 14 performs a list output process, an acquisition process, an adjustment process, a result output process, and a result reflection process.

[0035] In the list output process, the processing unit 14 displays (outputs) a list including a plurality of adjustment functions on the display unit 13. More specifically, the processing unit 232 displays the list screen G1 stored in the storage unit 11 on the display unit 13.

[0036] In the acquisition process, an operation for selecting one adjustment function from the list displayed on the display unit 13 is input to the processing unit 14 via the operation input unit 12. That is, the processing unit 14 acquires an operation signal output from the operation input unit 12 in response to the operation input to the operation input unit 12 (the operation for selecting one adjustment function).

[0037] In the adjustment process, the processing unit 14 adjusts the parameters set in the servo amplifier 23 based on one adjustment function selected by an operation input to the operation input unit 12. More specifically, when the user selects one adjustment function from the list displayed on the display unit 13 by operating the operation input unit 12, the processing unit 14 controls the servo amplifier 23 to adjust the setting values ​​of the parameters set in the servo amplifier 23 based on the selected one adjustment function. Through this control, the servo amplifier 23 adjusts the setting values ​​of the parameters set in the servo amplifier 23 in accordance with the one adjustment function.

[0038] In the result output process, the processing unit 14 causes the display unit 13 to display the adjustment results of the parameters adjusted in the adjustment process. The "parameter adjustment results" include the parameter setting values ​​after adjustment and the measured values ​​of the operating waveform of the servo motor 21. More specifically, the processing unit 14 controls the servo amplifier 23 to output the parameter adjustment results to the processing unit 14. The processing unit 14 causes the display unit 13 to display a result screen, and causes the parameter adjustment results acquired from the servo amplifier 23 to be displayed on the result screen displayed on the display unit 13.

[0039] In the result reflection process, the processing unit 14 reflects the adjusted parameter setting values ​​included in the adjustment result in the parameter setting values ​​stored in the storage unit 11. That is, the processing unit 14 overwrites the adjusted parameter setting values ​​stored in the storage unit 11 and stores them.

[0040] (2-3) Specific Examples of Multiple Adjustment Functions The multiple adjustment functions include first to fifth adjustment functions that adjust parameters set in the servo amplifier 23. The first to fourth adjustment functions are adjustment functions that are applied when the servo motor 21 is used in an application where the inertia does not change. The fifth adjustment function is an adjustment function that is applied when the servo motor 21 is used in an application where the inertia changes. Here, "inertia does not change" refers to an object with a constant weight being transported or moved by the load 2. Therefore, "inertia changes" refers to an object with multiple types of weights being transported or moved by the load 2. The multiple adjustment functions (particularly the first to fourth adjustment functions) have different parameter adjustment accuracy. The first to third adjustment functions are automatic adjustment functions that automatically adjust parameters. The fourth adjustment function is a manual adjustment function that allows the user to manually adjust parameters. Examples of the first to fifth adjustment functions are described below.

[0041] In the first adjustment function, the processing unit 14 causes the servo amplifier 23 to operate the servo motor 21 once based on the setting values ​​of the operating waveform stored in the storage unit 231 using the setting values ​​(e.g., initial values) of the parameters stored in the storage unit 231. The processing unit 14 then measures the measured value of the operating waveform resulting from the operation. The processing unit 14 controls the servo amplifier 23 to change (i.e., adjust) the setting values ​​of the parameters by a predetermined amount so that the measured value of the operating waveform approaches the setting value of the operating waveform more closely. The predetermined amount is, for example, an amount determined in advance according to the difference between the setting value and the measured value of the operating waveform. The processing unit 14 controls the servo amplifier 23 to output the adjustment results (the setting values ​​of the parameters, the setting value and the measured value of the operating waveform after adjustment) to the processing unit 14. The processing unit 14 then displays the adjustment results acquired from the servo amplifier 23 on the display unit 13. This allows the user to check the adjustment results displayed on the display unit 13.

[0042] The first adjustment function is a function that adjusts parameters by simply changing the parameter setting value once. Among the multiple adjustment functions, the first adjustment function is the adjustment function that operates the servo motor 21 the fewest number of times (the number of times the servo motor 21 is operated based on the setting value of the operating waveform). Therefore, the first adjustment function can adjust parameters the fastest among the multiple adjustment functions. Among the multiple adjustment functions, the first adjustment function is the adjustment function that changes the parameter setting value the fewest number of times. Therefore, the first adjustment function has the lowest adjustment accuracy among the multiple adjustment functions.

[0043] In the second adjustment function, the processing unit 14 controls the servo amplifier 23 to change the parameter setting values ​​stored in the storage unit 231 N1 times (e.g., N1 = an integer between 2 and 4). The processing unit 14 operates the servo motor 21 based on the operating waveform setting values ​​stored in the storage unit 231 for each setting value (the setting value before the change (initial value) and each changed setting value). The processing unit 14 controls the servo amplifier 23 to measure the measured value of the operating waveform for each of the N1 changes. In this case, when changing the parameter setting value for each of the N1 changes, the processing unit 14 controls the servo amplifier 23 to change (i.e., adjust) the parameter setting value by a predetermined amount so that the measured value of the operating waveform approaches the set value of the operating waveform more closely. The predetermined amount is, for example, an amount determined in advance according to the difference between the set value and the measured value of the operating waveform. In this way, in the second adjustment function, the processing unit 14 controls the servo amplifier 23 to change the parameter setting value N1 times, thereby adjusting the parameter setting value so that the measured value of the operating waveform approaches the set value of the operating waveform more closely. The processing unit 14 controls the servo amplifier 23 to output the adjustment results (the adjusted parameter setting values, the operating waveform setting values, and the final measured value) to the processing unit 14. The processing unit 14 displays the adjustment results acquired from the servo amplifier 23 on the display unit 13. This allows the user to check the adjustment results displayed on the display unit 13.

[0044] The second adjustment function is an adjustment function that adjusts parameters in a relatively short adjustment time by changing the parameters a relatively small number of times (also called the number of trials, for example, a few times (e.g., 2 to 4 times)). The second adjustment function changes the parameter setting values ​​more times than the first adjustment function. Therefore, the measured values ​​of the operating waveform can be brought closer to the setting values ​​of the operating waveform. Therefore, the second adjustment function has higher parameter adjustment accuracy than the first adjustment function. However, the second adjustment function operates the servo motor 21 more times than the first adjustment function. Therefore, it takes more adjustment time.

[0045] In the third adjustment function, the processing unit 14 causes the servo amplifier 23 to change the parameter setting values ​​stored in the storage unit 231 N2 times (e.g., N2 > N1). The processing unit 14 operates the servo motor 21 based on the operating waveform setting values ​​stored in the storage unit 231 for each setting value (the setting value before the change (initial value) and each changed setting value). The processing unit 14 measures the measured value of the operating waveform resulting from the operation. In this case, when changing the parameter setting value each time the N2 changes are made, the processing unit 14 controls the servo amplifier 23 to change (i.e., adjust) the parameter setting value by a predetermined amount so that the measured value of the operating waveform approaches the operating waveform setting value more closely. The predetermined amount is, for example, an amount determined in advance according to the difference between the set value and the measured value of the operating waveform. In this way, in the third adjustment function, the processing unit 14 controls the servo amplifier 23 to change the parameter setting value N2 times, thereby adjusting the parameter setting value so that the measured value of the operating waveform approaches the operating waveform setting value more closely. The processing unit 14 controls the servo amplifier 23 to output the adjustment results (the adjusted parameter setting values, the operating waveform setting values, and the final measured value) to the processing unit 14. The processing unit 14 displays the adjustment results acquired from the servo amplifier 23 on the display unit 13. This allows the user to check the adjustment results displayed on the display unit 13.

[0046] The third adjustment function is a function that adjusts parameters with relatively high adjustment accuracy by changing the parameters a sufficiently large number of times (e.g., 10 or more times). The third adjustment function has the largest number of parameter changes among the multiple adjustment functions (e.g., the first to fourth adjustment functions). Therefore, the third adjustment function can bring the measured value of the operating waveform closest to the set value of the operating waveform among the multiple adjustment functions. Therefore, the third adjustment function has the highest parameter adjustment accuracy among the multiple adjustment functions. The third adjustment function has the largest number of operations of the servo motor 21 among the multiple adjustment functions, and therefore requires the longest adjustment time.

[0047] The fourth adjustment function is a manual adjustment function. Therefore, in the fourth adjustment function, the processing unit 14 accepts parameter setting values ​​input by the user via the operation input unit 12. The processing unit 14 controls the servo amplifier 23 to change the parameter setting values ​​stored in the memory unit 231 to the parameter setting values ​​input to the operation input unit 12. The processing unit 14 causes the servo amplifier 23 to operate based on the operating waveform setting values ​​stored in the memory unit 231 using the changed parameter setting values, and measures the measured values ​​of the operating waveform resulting from that operation. The processing unit 14 controls the servo amplifier 23 to output the adjustment results (the adjusted parameter setting values, the operating waveform setting values, and the measured values) to the processing unit 14. The processing unit 14 displays the adjustment results acquired from the servo amplifier 23 on the display unit 13. This allows the user to check the adjustment results displayed on the display unit 13.

[0048] The fourth adjustment function allows the user to manually adjust the parameters, so that the parameters can be adjusted to have operating characteristics (i.e., operating characteristics of the servo motor 21) that suit the user's requirements.

[0049] The fifth adjustment function performs load fluctuation suppression adjustment (also referred to as load fluctuation stabilization adjustment). The load fluctuation suppression adjustment is a function for adjusting parameters to suppress fluctuations in the motor speed of the servo motor 21 and improve the stability of the servo motor 21 when the servo motor 21 is used in an application where the inertia fluctuates greatly, such as an articulated robot. More specifically, in the fifth adjustment function, the processing unit 14 controls the servo amplifier 23 to cause the load 2 to individually transport each of multiple types of transport objects having different weights. The processing unit 14 controls the servo amplifier 23 to adjust the parameter setting values ​​so that, when the load 2 transports each transport object, the measured values ​​of the operating waveform of the servo motor 21 fall within a certain range of the operating waveform setting values.

[0050] (2-4) Example of List Screen G1 FIG. 2 is an explanatory diagram illustrating an example of the list screen G1 displayed on the display unit 13 of the servo amplifier adjustment device 1 according to the embodiment. An example of the list screen G1 will be described with reference to FIG. 2. As described above, the list screen G1 is a screen that displays a list including a plurality of adjustment functions. As shown in FIG. 2, the list screen G1 is configured in a flowchart format that guides the user to one of the plurality of adjustment functions (e.g., an adjustment function suited to the user's requirements) by answering questions (questions in steps S1, S4, S6, S8, S10, and S13) displayed on the list screen G1. The reference numerals S1 to S16 and B1 in FIG. 2 are added for convenience of explanation and do not actually exist.

[0051] The question in step S1 asks whether the servo motor 21 is used in an application where the inertia changes. If the user answers "Yes" to the question in step S1 ("Yes" in S1), the user proceeds to step S2 and operates the operation input unit 12 to select the fifth adjustment function shown in step S2. The user then operates the operation input unit 12 to select the execute button image B1 at the bottom right of the list screen G1. This selection causes the processing unit 14 to output a control signal to the servo amplifier 23 to adjust the parameters in accordance with the fifth adjustment function. Upon receiving the control signal, the servo amplifier 23 adjusts the parameter setting values ​​in accordance with the fifth adjustment function. Upon completing the adjustment of the parameter setting values ​​in accordance with the fifth adjustment function, the user operates the operation input unit 12 to select the end button image in step S3. This selection causes the processing unit 14 to output a control signal to the servo amplifier 23 to reflect the adjustment results. Upon receiving the control signal, the servo amplifier 23 overwrites the adjusted setting values ​​with the setting values ​​stored in the memory unit 11 and stores them. Then, the adjustment of the parameter setting value by the fifth adjustment function is completed.

[0052] If the user answers "No" to the question in step S1 ("No" in S1), the user proceeds to step S4 and answers the question in step S4. The question in step S4 asks whether or not to move the load 2 immediately. If the user answers "Yes" to the question in step S4 ("Yes" in S4), the user proceeds to step S5 and operates the operation input unit 12 to select the first adjustment function shown in step S5. The user operates the operation input unit 12 to select the execute button image B1 at the bottom right of the list screen G1. This selection causes the processing unit 14 to output a control signal to the servo amplifier 23 to adjust the parameters in accordance with the first adjustment function. Upon receiving the control signal, the servo amplifier 23 adjusts the parameter setting values ​​in accordance with the first adjustment function. When the servo amplifier 23 finishes adjusting the parameter setting values ​​in accordance with the first adjustment function, the adjustment results are output from the servo amplifier 23 to the processing unit 14, and a result screen showing the adjustment results is displayed on the display unit 13. The result screen displays, as adjustment results, the set values ​​and measured values ​​of the operating waveform of the servo motor 21, the set values ​​of the parameters before and after adjustment, the degree of adjustment accuracy of the parameter set values ​​(e.g., an index showing the degree of agreement between the set values ​​of the operating waveform and the measured values ​​of the operating waveform), etc. The user proceeds to step S6 and checks the adjustment results displayed on the result screen displayed on the display unit 13. If the user is satisfied with the adjustment results ("Yes" in S6), the user proceeds to step S7 and operates the operation input unit 12 to select the end button image of step S7. This selection outputs a control signal from the processing unit 14 to the servo amplifier 23 to reflect the adjustment results. Upon receiving this control signal, the servo amplifier 23 overwrites the set values ​​stored in the memory unit 11 with the adjusted set values ​​and stores them. Then, adjustment of the parameter set values ​​by the first adjustment function is completed.

[0053] On the other hand, if the user is not satisfied with the adjustment results in step S6 ("No" in S6), the user proceeds to step S9 and operates the operation input unit 12 to select the second adjustment function shown in step S9. The user operates the operation input unit 12 to select the execute button image B1 at the bottom right of the list screen G1. This selection causes the processing unit 14 to output a control signal to the servo amplifier 23 to adjust the parameters in accordance with the second adjustment function. Upon receiving the control signal, the servo amplifier 23 adjusts the parameter setting values ​​in accordance with the second adjustment function. Upon completing the adjustment of the parameter setting values ​​in accordance with the second adjustment function, the adjustment results are output from the servo amplifier 23 to the processing unit 14, and a result screen showing the adjustment results is displayed on the display unit 13. The result screen displays, as adjustment results, the setting values ​​and measured values ​​of the operating waveform of the servo motor 21, the setting values ​​of the parameters before and after adjustment, the degree of adjustment accuracy of the parameter setting values ​​(for example, an index showing the degree of agreement between the setting values ​​of the operating waveform and the measured values ​​of the operating waveform). The user proceeds to step S10 and checks the adjustment results displayed on the results screen displayed on the display unit 13. If the user is satisfied with the adjustment results ("Yes" in S10), the user proceeds to step S11 and operates the operation input unit 12 to select the end button image in step S11. This selection causes the processing unit 14 to output a control signal for reflecting the adjustment results in the servo amplifier 23. Upon receiving this control signal, the servo amplifier 23 overwrites the adjusted setting values ​​with the setting values ​​stored in the storage unit 11 and stores them. Then, adjustment of the parameter setting values ​​by the second adjustment function is completed.

[0054] On the other hand, if the user is not satisfied with the adjustment results in step S10 ("No" in S10), the user proceeds to step S12 and operates the operation input unit 12 to select the third adjustment function shown in step S12. The user operates the operation input unit 12 to select the execute button image B1 at the bottom right of the list screen G1. This selection causes the processing unit 14 to output a control signal to the servo amplifier 23 to adjust the parameters in accordance with the third adjustment function. Upon receiving the control signal, the servo amplifier 23 adjusts the parameter setting values ​​in accordance with the third adjustment function. Upon completing the adjustment of the parameter setting values ​​in accordance with the third adjustment function, the adjustment results are output from the servo amplifier 23 to the processing unit 14, and a result screen showing the adjustment results is displayed on the display unit 13. The result screen displays, as adjustment results, the setting values ​​and measured values ​​of the operating waveform of the servo motor 21, the setting values ​​of the parameters before and after adjustment, the degree of adjustment accuracy of the parameter setting values ​​(e.g., an index showing the degree of agreement between the setting values ​​of the operating waveform and the measured values ​​of the operating waveform). The user proceeds to step S13 and checks the adjustment results displayed on the result screen displayed on the display unit 13. If the user is satisfied with the adjustment results ("Yes" in S13), the user proceeds to step S14 and operates the operation input unit 12 to select the end button image in step S14. This selection causes the processing unit 14 to output a control signal for reflecting the adjustment results in the servo amplifier 23. Upon receiving this control signal, the servo amplifier 23 overwrites the adjusted setting values ​​with the setting values ​​stored in the storage unit 11 and stores them. This completes the adjustment of the parameter setting values ​​by the third adjustment function.

[0055] On the other hand, if the user is not satisfied with the adjustment result in step S13 ("No" in S13), the user proceeds to step S15 and operates the operation input unit 12 to select the fourth adjustment function shown in step S15. This selection causes a manual setting screen to be displayed on the display unit 13. The user operates the operation input unit 12 to input a desired setting value in the parameter setting value input field on the manual setting screen. The user operates the operation input unit 12 to select the execute button image B1 at the bottom right of the list screen G1. This selection causes the processing unit 14 to output a control signal to the servo amplifier 23 to adjust the parameter setting value in accordance with the fourth adjustment function. Upon receiving the control signal, the servo amplifier 23 adjusts the parameter setting value in accordance with the fourth adjustment function. When the servo amplifier 23 finishes adjusting the parameter setting value in accordance with the fourth adjustment function, the adjustment result is output from the servo amplifier 23 to the processing unit 14, and the above-mentioned result screen showing the adjustment result is displayed on the display unit 13. The result screen displays, as adjustment results, the set values ​​and measured values ​​of the operating waveform of the servo motor 21, the set values ​​of the parameters before and after adjustment, the degree of adjustment accuracy of the parameter set values ​​(for example, an index showing the degree of agreement between the set values ​​of the operating waveform and the measured values ​​of the operating waveform), etc. The user checks the adjustment results displayed on the result screen displayed on the display unit 13. The user proceeds to step S16 and operates the operation input unit 12 to select the end button image of step S16. This selection causes the processing unit 14 to output a control signal for reflecting the adjustment results in the servo amplifier 23. Upon receiving the control signal, the servo amplifier 23 overwrites the set values ​​stored in the memory unit 11 with the adjusted set values ​​and stores them. Adjustment of the parameter set values ​​by the fourth adjustment function is completed.

[0056] On the other hand, if the user answers "No" to the question in step S4 ("No" in S4), the user proceeds to step S8 and answers the question in step S8. The question in step S8 asks whether or not to automatically adjust the parameter setting values ​​set in the servo amplifier 23. If the user answers "Yes" to the question in step S8 ("Yes" in S8), the user proceeds to step S9 and selects and executes one adjustment function from among the multiple adjustment functions in the procedure from step S9 onwards, as described above. If the user answers "No" to the question in step S8 ("No" in S8), the user proceeds to step S15 and selects and executes the fourth adjustment function, as described above.

[0057] In this way, by answering questions according to the flowchart displayed on the list screen G1, the user can adjust the parameter setting values ​​using an adjustment function from among multiple adjustment functions that is suitable for the purpose and adjustment accuracy required by the user.

[0058] On the list screen G1, the adjustment function used to adjust the parameters varies depending on the application of the servo motor 21, based on the questions in step S1. More specifically, when the servo motor 21 is used for an application in which the inertia changes, parameter adjustment is generally complicated, so the parameters are adjusted using a dedicated adjustment function (fifth adjustment function) suited to that application. This allows the user to adjust the parameter setting values ​​using an adjustment function suited to the application desired.

[0059] On the list screen G1, the user can adjust the parameter setting values ​​using an adjustment function that is appropriate for the adjustment accuracy required by the user, based on the questions in steps S4 and S8, and the questions asking whether the user is satisfied in steps S6, S10, and S13.

[0060] (2-5) Operation The operation of the servo amplifier adjustment device 1 (i.e., the servo amplifier adjustment method) will be described with reference to Fig. 3. The operation of the servo amplifier adjustment device 1 includes a first step S21, a second step S22, a third step S23, a fourth step S24, a fifth step S25, and a sixth step S26.

[0061] In the first step S21, the processing unit 14 performs a list output process. In the list output process, the processing unit 14 displays a list including a plurality of adjustment functions on the display unit 13. More specifically, the processing unit 14 displays a list screen G1 stored in the storage unit 11 on the display unit 13.

[0062] Following the first step S21, a second step S22 is performed. In the second step S22, the processing unit 14 performs an acquisition process. In the acquisition process, an operation for selecting one adjustment function from a list of multiple adjustment functions displayed on the list screen G1 displayed on the display unit 13 (e.g., an operation for selecting each of the adjustment functions in steps S2, S5, S9, S12, and S15 in FIG. 2 ) is input to the processing unit 14 via the operation input unit 12. That is, the processing unit 14 acquires an operation signal output from the operation input unit 12 in response to the operation input to the operation input unit 12.

[0063] The third step S23 is performed after the second step S22. In the third step S23, the processing unit 14 performs an adjustment process. In the adjustment process, the processing unit 14 adjusts the parameters set in the servo amplifier 23 based on one adjustment function selected by an operation input to the operation input unit 12. More specifically, when the user selects one adjustment function from the list of adjustment functions displayed on the display unit 13 by operating the operation input unit 12 (for example, when the first adjustment function is selected in step S5 of FIG. 2 ), the processing unit 14 controls the servo amplifier 23 to adjust the setting values ​​of the parameters set in the servo amplifier 23 based on the selected adjustment function. Through this control, the servo amplifier 23 adjusts the setting values ​​of the parameters set in the servo amplifier 23 in accordance with the one adjustment function.

[0064] After the third step S23, a fourth step S24 is performed. In the fourth step S24, the processing unit 14 performs a result output process. In the result output process, the processing unit 14 causes the display unit 13 to display the adjustment results of the parameters adjusted in the third step S23. More specifically, the processing unit 14 controls the servo amplifier 23 to output the parameter adjustment results to the processing unit 14. The processing unit 14 causes the display unit 13 to display the result screen stored in the memory unit 11, and causes the display unit 13 to display the parameter adjustment results acquired from the servo amplifier 23 on the result screen.

[0065] In the fifth step S25, the processing unit 14 determines whether an operation to end the adjustment has been input to the operation input unit 12. More specifically, it determines whether any of the end button images in steps S3, S7, S11, S14, and S16 (see FIG. 2) on the list screen G1 has been selected by operating the operation input unit 12. If the result of this determination is that an operation to end the adjustment has not been input to the operation input unit 12 ("No" in S25) (for example, "No" in any of steps S6, S10, and S13 on the list screen G1), the process returns to the first step S21, and the process is continued from the first step S21.

[0066] On the other hand, if the result of the determination in the fifth step S25 is that an operation to end the adjustment has been input to the operation input unit 12 ("Yes" in S25) (for example, if the end button image of any of steps S3, S7, S11, S14, and S16 on the list screen G1 is selected), the process proceeds to a sixth step S26. In the sixth step S26, the processing unit 14 performs a result reflection process. In the result reflection process, the processing unit 14 stores the adjustment results of the third step S23 (the adjusted parameter setting values) in the memory unit 11. That is, the processing unit 14 overwrites the parameter setting values ​​stored in the memory unit 11 with the adjustment results and stores them. Then, the process ends.

[0067] (3) Effects The servo amplifier adjustment method according to this embodiment adjusts parameters set in the servo amplifier 23 that controls the servo motor 21 that drives the load 2. The servo amplifier adjustment method includes a first step S21, a second step S22, and a third step S23. In the first step S21, the output unit 13 outputs a list (list screen G1) including a plurality of adjustment functions (first to fifth adjustment functions) for adjusting parameters, each having different adjustment accuracy. In the second step S22, an input operation for selecting one adjustment function from the list output from the output unit 13 is accepted. In the third step S23, the parameters are adjusted based on the one adjustment function selected by the operation accepted in the second step S22.

[0068] According to this configuration, parameters can be adjusted based on one adjustment function selected from the list (list screen G1) output from the output unit 13. Therefore, even a user who is not familiar with the servo amplifier 23 can easily adjust the parameters set in the servo amplifier 23.

[0069] Moreover, the servo amplifier adjustment method according to this embodiment further includes a fourth step S24 of outputting the parameter adjustment results from the output unit 13. According to this configuration, the user can check the parameter adjustment results based on the adjustment results output from the output unit 13.

[0070] Furthermore, in the servo amplifier adjustment method according to this embodiment, after the adjustment results are output from the output unit (display unit 13), the first step S21, the second step S22, the third step S23, and the fourth step S24 are repeated again. With this configuration, if the user is not satisfied with the adjustment results output from the output unit, the user can readjust the parameters by repeating the first step S21 to the fourth step S24 again.

[0071] In the servo amplifier adjustment method according to this embodiment, the output unit is the display unit 13 that displays the list (list screen G1). With this configuration, the list can be visually, that is, easily, confirmed.

[0072] In the servo amplifier adjustment method according to this embodiment, the plurality of adjustment functions includes an adjustment function (fourth adjustment function) for manually adjusting parameters. With this configuration, if the user is not satisfied with the adjustment results obtained by automatic adjustment ("No" in S13), the user can manually adjust the parameters.

[0073] Furthermore, in the servo amplifier adjustment method according to this embodiment, the plurality of adjustment functions adjust the parameters by varying the number of times the parameter setting value is changed. With this configuration, by varying the number of times the parameter setting value is changed, it is possible to differentiate the adjustment accuracy among the plurality of adjustment functions. The greater the number of times the parameter setting value is changed, the higher the parameter adjustment accuracy can be.

[0074] Furthermore, in the servo amplifier adjustment method according to this embodiment, the parameters are adjusted by varying the number of times the servo motor 21 is operated based on the set value of the operating waveform among the plurality of adjustment functions. With this configuration, by varying the number of times the servo amplifier 23 operates among the plurality of adjustment functions, it is possible to differentiate the parameter adjustment time. The fewer the number of times the servo amplifier 23 operates, the shorter the parameter adjustment time can be, i.e., the faster the parameters can be adjusted.

[0075] Furthermore, in the servo amplifier adjustment method according to this embodiment, the plurality of adjustment functions adjust parameters so that the measured value of the operational waveform measured when the servo motor 21 is operated based on the set value of the operational waveform approaches the set value of the operational waveform. With this configuration, the parameters can be adjusted so that the measured value of the operational waveform approaches the set value of the operational waveform.

[0076] Furthermore, in the servo amplifier adjustment method according to this embodiment, the list (list screen G1) includes questions S1, S4, S6, S8, S10, and S13, and is configured in the form of a flowchart that guides the user to select one of the plurality of adjustment functions S2, S5, S9, S12, and S15 by answering the questions S1, S4, S6, S8, S10, and S13. With this configuration, even a user who is not familiar with the servo amplifier 23 can select an adjustment function that best suits their needs from the plurality of adjustment functions.

[0077] In the servo amplifier adjustment method according to this embodiment, in the first step S21, the list (list screen G1) includes a first question S4 that asks the user whether or not to immediately move the load 2. If the user selects an answer to the first question S4 indicating that the load 2 should be moved immediately ("Yes" in S4), the list in the form of a flowchart guides the user to select, as one adjustment function, an adjustment function (first adjustment function) S5 that operates the servo motor 21 based on the set value of the operating waveform, among the multiple adjustment functions. According to this configuration, if the user wants to immediately move the load 2 ("Yes" in S4), the list (list screen G1) can recommend to the user the adjustment function (first adjustment function) S5 that can immediately move the load 2.

[0078] Furthermore, in the servo amplifier adjustment method according to this embodiment, in the first step S21, the list (list screen G1) includes, as questions, second questions S6, S10, S13 that ask whether the user is satisfied with the adjustment results of the adjustment function to which the user has been guided. If the user selects a response to the second questions S6, S10, S13 indicating that he or she is not satisfied with the adjustment results of the adjustment function to which the user has been guided ("No" in S6, "No" in S10, "No" in S13), the list in flowchart format guides the user to select, as an adjustment function, another adjustment function S9, S12, S15 that has had its parameter setting values ​​changed more frequently than the adjustment function to which the user has been guided.

[0079] According to this configuration, if the user is not satisfied with the adjustment results of the adjustment function to which the user is guided ("No" in S6, "No" in S10, "No" in S12), the list can recommend another adjustment function S9, S12, or S15 that has changed the parameter settings more frequently than the guided adjustment function (i.e., has higher adjustment accuracy than the guided adjustment function). This can make the user satisfied with the adjustment results of the other adjustment functions S9, S12, or S15.

[0080] Furthermore, in the servo amplifier adjustment method according to this embodiment, in the first step S21, the list (list screen G1) includes a third question S13 as a question asking the user whether or not they are satisfied with the adjustment results of the most frequently adjusted function (third adjustment function) S12, which has had the most changes to the parameter setting values ​​among the multiple adjustment functions. If the user selects a response to the third question S13 indicating that they are not satisfied with the adjustment results of the most frequently adjusted function S12 ("No" in S13), or if the user selects a response to the fourth question S8 indicating that they do not want the parameters to be automatically adjusted ("No" in S8), the list is displayed in a flow chart format to guide the user to select an adjustment function (fourth adjustment function) S15 for manually adjusting parameters as one adjustment function.

[0081] According to this configuration, if the user is not satisfied with the adjustment results of the most frequent adjustment function (third adjustment function) S12, which has changed the parameter setting values ​​the most (i.e., has the highest adjustment accuracy) ("No" in S13), or if the user does not want to automatically adjust the parameters ("No" in S8), the adjustment function (fourth adjustment function) S15, which manually adjusts the parameters, can be recommended to the user. This makes it possible to recommend to the user an adjustment function that will provide more satisfactory adjustment results.

[0082] (4) Forms other than the servo amplifier adjustment method Functions similar to those of the servo amplifier adjustment method according to the embodiment may be embodied in a servo amplifier adjustment device 1, a computer program (program), or a non-transitory recording medium on which a computer program is recorded, etc.

[0083] A servo amplifier adjustment device 1 according to one aspect adjusts parameters related to the servo motor 21, which are set in a servo amplifier 23 that controls the servo motor 21 that drives a load 2. The servo amplifier adjustment device 1 includes an output unit (display unit 13), an operation input unit 12, and a processing unit 14. The output unit outputs a list (list screen G1) including a plurality of adjustment functions (first to fifth adjustment functions) that adjust parameters and have different adjustment accuracies. The operation input unit 12 accepts an input of an operation for selecting one adjustment function from the list output from the output unit. The processing unit 14 adjusts the parameters based on the one adjustment function selected by the operation input to the operation input unit 12.

[0084] A program according to one aspect is a program for causing a computer to execute a servo amplifier adjustment method.

[0085] A non-transitory recording medium according to one aspect is a recording medium for recording a program for causing a computer to execute a servo amplifier adjusting method.

[0086] (5) Modifications The above embodiment is merely one of various embodiments of the present disclosure. The above embodiment can be modified in various ways depending on the design, etc., as long as the object of the present disclosure can be achieved. Modifications of the above embodiment are listed below. The modifications described below can be applied in appropriate combinations.

[0087] (5-1) Modification 1 In the above embodiment, the case where the output unit is the display unit 13 is exemplified. However, the output unit is not limited to the display unit 13. It may be an audio output unit that outputs the screen contents of the list screen G1, the result screen, and the manual setting screen by voice. Furthermore, the output unit may be configured by combining the display unit 13 and an audio output unit.

[0088] (5-2) Modification 2 In the above embodiment, in the second adjustment function, the processing unit 14 causes the servo amplifier 23 to change the parameter setting values ​​stored in the storage unit 231 for the servo motor 21 N1 times (for example, N1 = an integer between 2 and 4). The processing unit 14 operates the servo motor 21 based on the operating waveform setting values ​​stored in the storage unit 231 for each setting value (the setting value before the change (initial value) and each changed setting value). The processing unit 14 measures the measured values ​​of the operating waveform resulting from the operation. The parameter may be adjusted using the parameter setting value corresponding to the measured value closest to the operating waveform setting value among the measured (N1+1) times of the operating waveform.

[0089] Similarly, in the above embodiment, in the third adjustment function, the processing unit 14 causes the servo amplifier 23 to change the parameter setting values ​​stored in the storage unit 231 for the servo motor 21 N2 (e.g., N2>N1) times. The processing unit 14 operates the servo motor 21 based on the operating waveform setting values ​​stored in the storage unit 231 for each setting value (the setting value before the change (initial value) and each changed setting value). The processing unit 14 measures the measured values ​​of the operating waveform resulting from the operation. The parameter may be adjusted using the parameter setting value corresponding to the measured value closest to the operating waveform setting value among the measured (N2+1) times of the operating waveform.

[0090] (Aspects) As is clear from the above-described embodiments and modifications, the present specification discloses the following aspects.

[0091] A servo amplifier adjustment method according to a first aspect adjusts parameters set in a servo amplifier (23) that controls a servo motor (21) that drives a load (2). The servo amplifier adjustment method includes a first step (S21), a second step (S22), and a third step (S23). In the first step (S21), an output unit (13) outputs a list (list screen G1) including multiple functions for adjusting parameters, the multiple adjustment functions having different adjustment accuracies. In the second step (S22), an input operation for selecting one adjustment function from the list (list screen G1) output from the output unit (13) is accepted. In the third step (S23), the parameters are adjusted based on the one adjustment function selected by the operation accepted in the second step (S22).

[0092] According to this configuration, by selecting one adjustment function from the list (list screen G1) output from the output unit 13, the parameters can be adjusted based on the selected adjustment function. Therefore, even a user who is not familiar with the servo amplifier 23 can easily adjust the parameters set in the servo amplifier 23.

[0093] The servo amplifier adjustment method according to the second aspect is the first aspect, further comprising a fourth step (S24) of outputting the parameter adjustment results from the output unit (13).

[0094] According to this configuration, the user can check the adjustment results of the parameters based on the adjustment results output to the output unit (13).

[0095] The servo amplifier adjustment method according to the third aspect is the same as that according to the first or second aspect, in which the first step (S21), the second step (S22), the third step (S23), and the fourth step (S24) are repeated again after the adjustment result is output from the output section (13).

[0096] According to this configuration, if the user is not satisfied with the adjustment results output to the output unit (13), the user can readjust the parameters by repeating the first to fourth steps (S21 to S24) again.

[0097] In the servo amplifier adjusting method according to the fourth aspect, in any one of the first to third aspects, the output unit (13) is a display unit (13) that displays a list (list screen G1).

[0098] According to this configuration, the list (list screen G1) can be visually (i.e., easily) confirmed.

[0099] A servo amplifier adjustment method according to a fifth aspect is based on any one of the first to fourth aspects, wherein the plurality of adjustment functions includes an adjustment function for manually adjusting parameters.

[0100] According to this configuration, if the results of automatic adjustment are not satisfactory, the parameters can be adjusted manually.

[0101] A servo amplifier adjustment method according to a sixth aspect is any one of the first to fifth aspects, wherein the plurality of adjustment functions adjust the parameters by varying the number of times the parameter setting value is changed.

[0102] According to this configuration, by varying the number of times the parameter setting value is changed, it is possible to differentiate the adjustment accuracy among the plurality of adjustment functions. The greater the number of times the parameter setting value is changed, the higher the parameter adjustment accuracy can be.

[0103] In the servo amplifier adjustment method according to the seventh aspect, in any one of the first to sixth aspects, the plurality of adjustment functions adjust parameters by varying the number of times that the servo motor (21) is operated based on the set value of the operating waveform.

[0104] According to this configuration, by varying the number of times the servo amplifier (23) operates among the plurality of adjustment functions, it is possible to differentiate the parameter adjustment time. The fewer the number of times the servo amplifier (23) operates, the shorter the parameter adjustment time can be (i.e., the faster the parameters can be adjusted).

[0105] In the servo amplifier adjustment method according to the eighth aspect, in any one of the first to seventh aspects, the plurality of adjustment functions adjust parameters so that the measured value of the operating waveform measured when the servo motor (21) is operated based on the set value of the operating waveform approaches the set value of the operating waveform.

[0106] According to this configuration, the parameters can be adjusted so that the measured value of the operating waveform approaches the set value of the operating waveform.

[0107] In the servo amplifier adjustment method according to the ninth aspect, in any one of the first to eighth aspects, the list (list screen G1) includes questions (S1, S4, S6, S8, S10, S13) and is configured in a flowchart format that guides the user to select one of a plurality of adjustment functions (S2, S5, S9, S12, S15) by answering the questions (S1, S4, S6, S8, S10, S13).

[0108] According to this configuration, even a user who is not familiar with servo amplifiers (23) can select an adjustment function that suits the user's requirements from among a plurality of adjustment functions.

[0109] In the servo amplifier adjustment method according to the tenth aspect, in the ninth aspect, in the first step (S21), the list (list screen G1) includes, as a question, a first question (S4) that asks the user whether or not to immediately move the load (2), and when the user selects an answer to the first question (S4) that indicates that the load (2) should be moved immediately ("Yes" in S4), the list in flowchart format guides the user to select, as one adjustment function, from among the multiple adjustment functions, an adjustment function (S5) that operates the servo motor (21) based on the set value of the operating waveform, which has the fewest number of operations.

[0110] According to this configuration, if the user wants to move the load (2) immediately ("Yes" in S4) through the list (list screen G1), the adjustment function (S5) that enables the load (2) to be moved immediately can be recommended to the user.

[0111] In the servo amplifier adjustment method according to the eleventh aspect, in the tenth aspect, in the first step (S21), the list (list screen G1) includes, as a question, a second question (S6, S10, S13) asking whether the user is satisfied with the adjustment result of the adjustment function to which the user has been guided, and if the user selects an answer to the second question (S6, S10, S13) that indicates that the user is not satisfied with the adjustment result of the adjustment function to which the user has been guided ("No" in S6, "No" in S10, "No" in S13), the user is guided by a flow chart-format list (list screen G1) to select, as an adjustment function, another adjustment function (S9, S12, S15) that has had its parameter setting values ​​changed more frequently than the adjustment function to which the user has been guided.

[0112] According to this configuration, if the user is not satisfied with the adjustment results of the adjustment function to which the user is guided ("No" in S6, "No" in S10, "No" in S13), the list (list screen G1) can recommend another adjustment function (S9, S12, S15) that has changed the parameter settings more frequently than the guided adjustment function (i.e., has higher adjustment accuracy than the guided adjustment function). This can make the user satisfied with the adjustment results of the other adjustment function (S9, S12, S15).

[0113] In the servo amplifier adjustment method according to the twelfth aspect, in the eleventh aspect, in the first step (S21), the list (list screen G1) includes a third question (S13) as a question asking the user whether or not they are satisfied with the adjustment result of the most frequently adjusted function (S12) that has had the parameter setting value changed the most among the multiple adjustment functions, and if the user selects a response to the third question (S13) indicating that they are not satisfied with the adjustment result of the most frequently adjusted function (S12) ("No" in S13), or if the user selects a response to the fourth question (S8) indicating that they are not satisfied with the adjustment result of the most frequently adjusted function (S12) ("No" in S8), the list (list screen G1) in flowchart format guides the user to select an adjustment function (S15) for manually adjusting parameters as one adjustment function.

[0114] According to this configuration, if the user is not satisfied with the adjustment results of the most frequent adjustment function (S12) that changes the parameter setting values ​​the most (i.e., has the highest adjustment accuracy) ("No" in S13) or if the user does not want to automatically adjust the parameters ("No" in S8), the list (list screen G1) can recommend to the user the adjustment function that manually adjusts the parameters (S15). This makes it possible to recommend to the user an adjustment function that will provide more satisfactory adjustment results.

[0115] A program according to a thirteenth aspect is a program for causing one or more processors to execute the servo amplifier adjustment method according to any one of the first to twelfth aspects.

[0116] According to this configuration, it is possible to provide a program for causing one or more processors to execute the servo amplifier adjustment method.

[0117] A servo amplifier adjustment device (1) according to a fourteenth aspect adjusts parameters set in a servo amplifier (23) that controls a servo motor (21) that drives a load (2). The servo amplifier adjustment device (1) includes an output unit (13), an operation input unit (12), and a processing unit (14). The output unit (13) outputs a list (list screen G1) including multiple functions for adjusting parameters, the multiple adjustment functions having different adjustment accuracies. The operation input unit (12) accepts an operation input for selecting one adjustment function from the list (list screen G1) output from the output unit (13). The processing unit (14) adjusts the parameters based on the one adjustment function selected by the operation input to the operation input unit (12).

[0118] According to this configuration, by selecting one adjustment function from the list (list screen G1) output from the output unit 13, the parameters can be adjusted based on the selected adjustment function. Therefore, even a user who is not familiar with the servo amplifier 23 can easily adjust the parameters.

[0119] The servo amplifier adjustment method, program, and servo amplifier adjustment device disclosed herein are useful for various motor amplifiers.

[0120] REFERENCE SIGNS LIST 1 Servo amplifier adjustment device 2 Load 12 Operation input unit 13 Display unit (output unit) 21 Servo motor 23 Servo amplifier S21 First process S22 Second process S23 Third process S24 Fourth process G1 List screen

Claims

1. A servo amplifier adjustment method for adjusting parameters set in a servo amplifier that controls a servo motor that drives a load, comprising: a first step of outputting from an output unit a list including a plurality of functions for adjusting the parameters, the plurality of adjustment functions having different adjustment accuracies; a second step of receiving an input operation for selecting one adjustment function from the list output from the output unit; and a third step of adjusting the parameters based on the one adjustment function selected by the input received in the second step.

2. The servo amplifier adjustment method according to claim 1, further comprising a fourth step of outputting the parameter adjustment results from the output section.

3. The servo amplifier adjustment method according to claim 2, wherein after the output section outputs the adjustment result, the first step, the second step, the third step, and the fourth step are repeated again.

4. The servo amplifier adjustment method according to any one of claims 1 to 3, wherein the output unit is a display unit that displays the list.

5. A servo amplifier adjustment method according to any one of claims 1 to 4, wherein the plurality of adjustment functions includes an adjustment function for manually adjusting the parameters.

6. A servo amplifier adjustment method according to any one of claims 1 to 5, wherein the plurality of adjustment functions adjust the parameters by varying the number of times the parameter setting value is changed.

7. A servo amplifier adjustment method according to any one of claims 1 to 6, wherein the plurality of adjustment functions adjust the parameters by varying the number of times the servo motor is operated based on the set value of the operating waveform.

8. A servo amplifier adjustment method according to any one of claims 1 to 7, wherein the plurality of adjustment functions adjust the parameters so that a measured value of an operating waveform measured when the servo motor is operated based on a set value of the operating waveform approaches the set value of the operating waveform.

9. A servo amplifier adjustment method according to any one of claims 1 to 8, wherein the list further includes questions, and is configured in a flow chart format that guides the user to select one of the plurality of adjustment functions by answering the questions.

10. A servo amplifier adjustment method as described in claim 9, wherein in the first step, the list includes a first question as the question, which asks the user whether or not to immediately move the load, and when the user selects an answer to the first question that indicates that the load should be moved immediately, the list in the form of a flowchart guides the user to select, as the one adjustment function, an adjustment function from among the plurality of adjustment functions that operates the servo motor the fewest number of times based on a set value of an operating waveform.

11. A servo amplifier adjustment method as described in claim 10, wherein in the first step, the list includes a second question as the question asking whether the user is satisfied with the adjustment result of the induced adjustment function, and if the user selects an answer to the second question indicating that he or she is not satisfied with the adjustment result of the induced adjustment function, the list in the form of a flowchart guides the user to select, as the one adjustment function, another adjustment function that has had its parameter setting values changed more frequently than the induced adjustment function.

12. A servo amplifier adjustment method as described in claim 11, wherein in the first step, the list includes, as the questions, a third question asking the user whether or not they are satisfied with the adjustment result of the most frequently adjusted function among the plurality of adjustment functions, which has changed the setting value of the parameter the most times, and if the user selects a response to the third question that they are not satisfied with the adjustment result of the most frequently adjusted function, or if the question includes a fourth question asking the user whether or not they want the parameter to be automatically adjusted, and if the user selects a response to the fourth question that the parameter will not be automatically adjusted, the user is guided by the list in flowchart format to select, as the one adjustment function, an adjustment function that manually adjusts the parameter.

13. A program for causing one or more processors to execute the servo amplifier adjustment method according to any one of claims 1 to 12.

14. A servo amplifier adjustment device that adjusts parameters set in a servo amplifier that controls a servo motor that drives a load, comprising: an output unit that outputs a list including a plurality of functions for adjusting the parameters, the plurality of adjustment functions having different adjustment accuracies; an operation input unit that accepts an operation input for selecting one adjustment function from the list output from the output unit; and a processing unit that adjusts the parameters based on the one adjustment function selected by the operation input to the operation input unit.

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