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

Abstract

A servo-amplifier adjustment method adjusts a parameter set in a servo amplifier for controlling a servo motor that drives a load. The servo-amplifier adjustment method includes a first process, a second process, and a third process. In the first process, a positioning waveform of the servo motor when the servo motor is driven is measured on the basis of a set value after the change in the parameter when the set value of the parameter is changed. In the second process, frequency characteristics related to the positioning waveform measured in the first process and based on the same set value as the changed set value used in the first process are measured. In the third step, the measured positioning waveform and the frequency characteristics are output from an output unit.

Description

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

[0001] The present disclosure 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 adjusts parameters set in a servo amplifier that controls a servo motor that drives a load.

[0002] The servo adjustment method described in Patent Document 1 includes a characteristic measurement step, a stiffness determination step, and an index measurement step. In the characteristic measurement step, the load characteristics of the motor (servo motor) are measured and a command pattern to be issued to the motor drive device is determined. In the stiffness determination step, the command pattern is used to determine a stiffness index that determines the responsiveness of the motor drive device to disturbances. In the evaluation measurement step, the determined stiffness index is combined with a command response index that determines the responsiveness of commands to the motor drive device to measure an evaluation index during a specified operation. In the evaluation measurement step, a motor positioning waveform is displayed as a result of the evaluation measurement.

[0003] In the servo adjustment method described in Patent Document 1, the positioning waveform of the servo motor is displayed as a result of the evaluation measurement, but the frequency characteristics of the servo motor are not displayed. Therefore, the user can check the positioning waveform of the servo motor, but cannot check the frequency characteristics of the servo motor together with the positioning waveform of the servo motor.

[0004] More specifically, in the servo adjustment method described in Patent Document 1, a positioning waveform is displayed, and the parameters at that time are known. Then, frequency characteristics are measured, and the measured frequency characteristics are taken into consideration to finally determine the parameters. However, with this parameter determination method, when a parameter is changed, it is difficult to compare how the parameter change affects the positioning waveform and the frequency characteristics. Furthermore, the positioning waveform and the frequency characteristics are measured in different situations. Therefore, the parameters used in the measurement may change between the positioning waveform and the frequency characteristics. It is desirable to prevent such difficulty in comparison or the occurrence of parameter changes between the positioning waveform measurement and the frequency characteristics measurement, and to take appropriate measures for the positioning waveform and the frequency characteristics.

[0005] Japanese Patent Application Laid-Open No. 2019-37129

[0006] In view of the above-mentioned problems, an object of the present disclosure is to provide a servo amplifier adjustment method, program, and servo amplifier adjustment device that can check the positioning waveform and frequency characteristics of a servo motor together.

[0007] 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, a setting value of the parameter is changed and a positioning waveform of the servo motor is measured when the servo motor is driven based on the changed setting value of the parameter. In the second step, a frequency characteristic of the positioning waveform measured in the first step is measured, the frequency characteristic being based on the same setting value as the changed setting value used in the first step. In the third step, the measured positioning waveform and the frequency characteristic are output from an output unit.

[0008] 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.

[0009] 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 a first measurement unit, a second measurement unit, and an output unit. When a set value of the parameter is changed, the first measurement unit measures a positioning waveform of the servo motor when the servo motor is driven based on the changed set value of the parameter. The second measurement unit measures a characteristic related to the positioning waveform measured by the first measurement unit, the frequency characteristic based on the same set value as the changed set value used by the first measurement unit. The output unit outputs the measured positioning waveform and the frequency characteristic.

[0010] The servo amplifier adjustment method, program, and servo amplifier adjustment device according to one aspect of the present disclosure have the advantage of being able to check the positioning waveform and frequency characteristics of a servo motor together.

[0011] FIG. 1 is a configuration diagram showing the configuration of a servo amplifier adjustment device and a load to be driven according to an embodiment. FIG. 2 is a configuration diagram of a processing unit of the servo amplifier of the same. FIG. 3 is an explanatory diagram illustrating an example of a result screen displayed on the display unit of the servo amplifier adjustment device of the same. FIG. 4 is a flowchart illustrating the operation of the servo amplifier adjustment device of the same. FIG. 5 is an explanatory diagram illustrating a result screen of Modified Example 1 in a state where a positioning waveform is displayed. FIG. 6 is an explanatory diagram illustrating a result screen of Modified Example 1 in a state where a frequency characteristic is displayed.

[0012] A servo amplifier adjusting method and a servo amplifier adjusting device according to an embodiment will be described below with reference to the drawings.

[0013] (Embodiment) (1) Overview A servo amplifier adjustment method according to this embodiment will be described with reference to FIGS. 1, 3, and 4. 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 an explanatory diagram showing an example of a result screen displayed on the display unit 13 of the servo amplifier adjustment device 1. FIG. 4 is a flowchart showing the operation of the servo amplifier adjustment device 1. As shown in FIGS. 1, 3, and 4, 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 a load 2. The servo amplifier adjustment method includes a first step (index measurement step S4), a second step (index measurement step S4), and a third step (result output step S5). In the first step, when a parameter setting value 50b is changed, the positioning waveform (actual measurement value M1) of the servo motor 21 is measured when the servo motor 21 is driven based on a changed parameter setting value 50c. In the second step, a frequency characteristic F1 is measured, which is a characteristic related to the positioning waveform (actual measurement value M1) measured in the first step and is based on the same setting value as the changed setting value 50c used in the first step. In the third step, the measured positioning waveform (actual measurement value M1) and frequency characteristic F1 are output from the output unit (display unit 13).

[0014] With this configuration, the positioning waveform (actual measurement value M1) and frequency characteristic F1 at the same setting value 50c can be output from the output unit (display unit 13). As a result, the user can simultaneously check the influence of changing the parameter setting value on the positioning waveform (actual measurement value M1) and frequency characteristic F1 of the servo motor 21.

[0015] (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.

[0016] (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. The servo motor 21 is a drive source for driving the load 2. The servo motor 21 operates under the control of the 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 electrical 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. The "operation waveform" includes, for example, a positioning waveform and a frequency characteristic. The positioning waveform is a waveform that shows the time change of a physical quantity such as the rotation angle or rotation speed of the servo motor 21. The frequency characteristic is a waveform that shows the relationship between the gain or phase of the servo motor 21 and 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, for example, parameters related to the gain and inertia 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. The processing unit 232 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] In addition, 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 Processing Unit 232 The processing unit 232 has a basic function and a motor adjustment function. The basic function is a function for controlling the servo motor 21. The motor adjustment function is a function for adjusting parameters related to the servo motor 21, which are set in the servo amplifier 23.

[0026] 2 is a configuration diagram of the processing unit 232 of the servo amplifier 23 according to the embodiment. As shown in FIG. 2, the processing unit 232 includes, as basic functions, a command selection unit 31, a command response setting unit 32, a position / speed control unit 33, a load characteristic compensation unit 34, and a resonance suppression unit 35.

[0027] The command selection unit 31 selects either an internal position command output from the trial operation function 36 described below or an external position command output from a specified higher-level device 30, and outputs the selected position command to the command response setting unit 32.

[0028] The command response setting unit 32 performs a filter calculation process on the position command output from the command selection unit 31 and outputs the position command after the filter calculation to the position and speed control unit 33 .

[0029] The position and speed control unit 33 performs a feedback control calculation, such as PID (Proportional-Integral-Differential Control), based on the position command after the filter calculation and the rotation angle information from the encoder 22, and outputs a torque command such that the rotation angle deviation becomes zero.

[0030] The load characteristic compensator 34 performs compensation to absorb the difference in inertia of the load 2 by performing scaling processing on the torque command output from the position and speed controller 33 to absorb the influence of the total inertia according to the total inertia of the servo motor 21 and the load 2. The load characteristic compensator 34 estimates the friction torque of the servo motor 21 and the load 2 from the rotation angle information of the servo motor 21 from the encoder 22, and performs compensation by adding the estimated friction torque in advance. The load characteristic compensator 34 performs this compensation on the torque command, thereby generating a compensated torque command.

[0031] The resonance suppression unit 35 performs filtering (notch filtering or low-pass filtering) to remove specific frequency components from the compensated torque command so as not to excite vibrations caused by the resonance characteristics between the servo motor 21 and the load 2, and outputs the filtered torque command as a filtered torque command.

[0032] The servo motor 21 operates based on the filtered torque command output from the resonance suppression unit 35. As a result, the servo motor 21 is controlled to output torque in accordance with the filtered torque command output from the resonance suppression unit 35. The movement of the servo motor 21 is transmitted to the connected load 2 and encoder 22, and is fed back to the processing unit 232 (e.g., the position and speed control unit 33, the load characteristic compensation unit 34, the load characteristic measurement function 39, the oscillation detection function 41, and the index measurement function 42) via the encoder 22 as rotation angle information of the servo motor 21.

[0033] The processing unit 232 has, as motor adjustment functions, a trial run function 36, a command response setting function 37, a stiffness setting function 38, a load characteristic measurement function 39, an adaptive filter function 40, an oscillation detection function 41, an index measurement function 42, and a servo adjustment unit 43.

[0034] The servo adjustment unit 43 controls each of the above functions, namely, the trial operation function 36, the command response setting function 37, the stiffness setting function 38, the load characteristic measurement function 39, the adaptive filter function 40, the oscillation detection function 41, and the index measurement function 42, in accordance with the control of the servo amplifier adjustment device 1.

[0035] Furthermore, servo adjustment unit 43 controls each function, namely, command response setting function 37, stiffness setting function 38, load characteristic measurement function 39, and adaptive filter function 40, in accordance with the control of servo amplifier adjustment device 1, to adjust the set values ​​of parameters set in command response setting unit 32, position / speed control unit 33, load characteristic compensation unit 34, and resonance suppression unit 35. In this way, servo adjustment unit 43 adjusts the operation of servo motor 21.

[0036] Furthermore, servo adjustment unit 43 outputs various evaluation indices measured by index measurement function 42 to servo amplifier adjustment device 1 in accordance with the control of servo amplifier adjustment device 1. The various evaluation indices include the set values ​​and measured values ​​of the operating waveform (also called positioning waveform) of servo motor 21, the frequency characteristics corresponding to the operating waveform, and the set values ​​of parameters set in each section before and after adjustment.

[0037] Processing unit 232, as test run function 36, inputs parameters such as the movement amount, maximum speed, acceleration time, deceleration time, and stopping time from servo adjustment unit 43, and automatically calculates an operation pattern based on the input parameters using NC (numerical control) processing built into processing unit 232. Processing unit 232 generates an internal position command based on the calculated operation pattern. Test run function 36 outputs the generated internal position command to command selection unit 31.

[0038] Processing unit 232, as command response setting function 37, inputs one or more command response indexes from servo adjustment unit 43. The one or more command response indexes are command response indexes that indicate more detailed frequency characteristics using a first-order or second-order delay filter time constant or attenuation ratio, or that indicate transient characteristics of time response (rise time, delay time, amount of overshoot, etc.). Processing unit 232, as command response setting function 37, sets parameters for the filter calculation process of command response setting unit 32 based on the input command response index so that the filter characteristics of the filter calculation process of command response setting unit 32 match the command response index.

[0039] The processing unit 232, as the stiffness setting function 38, receives one or more stiffness indexes from the servo adjustment unit 43. The processing unit 232, as the stiffness setting function 38, refers to the stiffness table and adjusts one or more parameters of the position and speed control unit 33 so that the disturbance response of the position and speed control unit 33 matches the stiffness index.

[0040] The processing unit 232, as a load characteristic measurement function 39, automatically estimates characteristics related to the load 2 using least-squares estimation from the filtered torque command to the servo motor 21 and rotation angle information from the encoder 22 and the speed and acceleration, which are the higher-order differences between the torque command and the rotation angle information. The processing unit 232, as the load characteristic measurement function 39, reflects the estimation results in the load characteristic compensation unit 34. Examples of the characteristics related to the load 2 include the total inertia of the servo motor 21 and the load 2 combined, and friction characteristics such as an unbalanced load torque that always acts at a constant level, a dynamic friction torque that depends on the operating direction, and a viscous friction torque that is proportional to the operating speed. By reflecting the estimation results in the load characteristic compensation unit 34 in real time, the load characteristic compensation unit 34 can be endowed with adaptive robustness that allows the same responsiveness specified by the command response index or stiffness index to be obtained regardless of the type of load 2 connected.

[0041] The processing unit 232 serves as the adaptive filter function 40, and adjusts the parameters of the resonance suppression unit 35 according to the control of the servo adjustment unit 43, using an adaptive algorithm that uses, for example, a recursive notch filter, so as to bring high-frequency components extracted from the motor rotation angle information from the encoder 22 closer to zero. The processing unit 232 serves as the adaptive filter function 40, and adjusts the parameters of the resonance suppression unit 35 according to the adaptive algorithm so as to bring vibration components caused by the resonance characteristics of the servo motor 21 and the load 2 closer to zero.

[0042] The processing unit 232, as the oscillation detection function 41, extracts a fluctuation amount from the rotation angle information from the encoder 22, compares the extracted fluctuation amount with a threshold value, determines the duration of the fluctuation, and so on, thereby detecting the oscillation state of the servo motor 21 and the load 2. When the processing unit 232, as the oscillation detection function 41, detects oscillation, it transmits the oscillation detection information to the stiffness setting function 38 and causes the stiffness setting function 38 to select a stiffness value in the direction in which the oscillation subsides. As a result, the processing unit 232, as the stiffness setting function 38, automatically selects a stiffness index with high stability, instead of the stiffness index from the servo adjustment unit 43, until the oscillation stops.

[0043] The processing unit 232, as an index measurement function 42, periodically acquires data such as the position command output of the command selection unit 31, the rotation angle information output of the encoder 22, and the torque command output of the load characteristic compensation unit 34. The processing unit 232, as the index measurement function 42, measures evaluation indexes such as the settling time, overshoot, and torque fluctuation of the servo motor 21 based on the acquired data. The processing unit 232, as the index measurement function 42, measures the positioning waveform of the servo motor 21 based on the acquired data and the measured evaluation index. The positioning waveform is, for example, a graph showing the change over time in the rotation speed of the servo motor 21.

[0044] Furthermore, the processing unit 232, as the index measurement function 42, performs a Fourier transform on the measured positioning waveform to measure the frequency characteristics corresponding to the positioning waveform. More specifically, as the index measurement function 42, the processing unit 232 measures the frequency characteristics corresponding to the positioning characteristics using the same setting values ​​of the parameters used in measuring the positioning waveform. The frequency characteristics are, for example, a graph showing the relationship between the gain and frequency of the servo motor 21, and a graph showing the relationship between the phase and frequency of the servo motor 21. In this way, as the index measurement function 42, the processing unit 232 further measures the positioning waveform and the frequency characteristics as evaluation indexes.

[0045] Furthermore, the processing unit 232, as the index measurement function 42, outputs the measured evaluation index to the servo adjustment unit 43. The evaluation index output to the servo adjustment unit 43 is output to the servo amplifier adjustment device 1, and can be output to the display unit 13.

[0046] (2-3) 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, and a processing unit 14.

[0047] The storage unit 11 is a non-volatile storage device. The storage unit 11 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 for the list screen and the result screen. The various information includes various information output from the servo amplifier 23 (more specifically, the servo adjustment unit 43) to the servo amplifier adjustment device 1.

[0048] Here, the list screen and the result screen will be briefly explained.

[0049] The list screen 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 each have a different adjustment accuracy for adjusting the parameters. "Adjustment accuracy" refers to, for example, the degree of agreement (also referred to as similarity) of the measured value with respect to 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.

[0050] 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.

[0051] 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.

[0052] 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 a list screen and a result screen.

[0053] 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.

[0054] (2-4) Details of the Processing Unit 14 The processing unit 14 performs a list output process, a selection process, an adjustment process, an index measurement process, a result output process, and a result reflection process.

[0055] In the list output process, the processing unit 14 displays (outputs) a list including a plurality of adjustment functions on the display unit 13 (output unit). More specifically, the processing unit 14 displays a list screen stored in the storage unit 11 on the display unit 13.

[0056] In the selection process, the processing unit 14 accepts, via the operation input unit 12, an input of an operation for selecting one adjustment function from the list (list screen) displayed on the display unit 13. 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).

[0057] 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 a 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 processing unit 232 (more specifically, the servo adjustment unit 43) of the servo amplifier 23 to adjust the setting values ​​of the parameters set in the servo amplifier 23 (more specifically, the parameters set in each of the command response setting unit 32, the position / speed control unit 33, the load characteristic compensation unit 34, and the resonance suppression unit 35) based on the selected adjustment function. Through this control, the processing unit 232 of the servo amplifier 23 adjusts the setting values ​​of the parameters set in the servo amplifier 23 in accordance with the one adjustment function. More specifically, the servo adjustment unit 43 of the processing unit 232 controls, in accordance with one adjustment function, each of the command response setting function 37, stiffness setting function 38, load characteristic measurement function 39, adaptive filter function 40, and oscillation detection function 41 of the motor adjustment functions of the processing unit 232, thereby adjusting (changing) parameters set in each of the command response setting unit 32, position / speed control unit 33, load characteristic compensation unit 34, and resonance suppression unit 35 of the basic functions. The servo adjustment unit 43 controls each of the command response setting unit 32, position / speed control unit 33, load characteristic compensation unit 34, and resonance suppression unit 35 of the basic functions based on the adjusted (changed) parameters, thereby driving the servo motor 21 based on the adjusted set values ​​of the parameters. The servo adjustment unit 43 changes the parameters a number of times determined by the selected adjustment function in accordance with the control of the processing unit 14, and drives the servo motor 21 based on the changed parameters each time the parameters are changed.

[0058] In the index measurement process, the processing unit 14 controls the processing unit 232 (more specifically, the servo adjustment unit 43) so as to measure the evaluation index related to the servo motor 21 when the servo motor 21 is driven based on the parameters changed by the adjustment process. The evaluation index includes the positioning waveform and frequency characteristics of the servo motor 21.

[0059] Processing unit 232 (more specifically, servo adjustment unit 43) controls index measurement function 42 in response to control from processing unit 14 to measure an evaluation index related to servo motor 21 and output the measured evaluation index to servo adjustment unit 43. Then, upon acquiring the evaluation index from index measurement function 42, servo adjustment unit 43 outputs the acquired evaluation index to processing unit 14. Processing unit 14 acquires the evaluation index from servo adjustment unit 43.

[0060] In the result output process, the processing unit 14 displays the evaluation indexes measured in the index measurement process on the display unit 13. More specifically, the processing unit 14 displays a result screen on the display unit 13, and displays the evaluation indexes acquired from the servo adjustment unit 43 (i.e., the processing unit 232) on the result screen. The evaluation indexes include the setting values ​​of the parameters after the change and the setting values ​​before the change, in addition to the positioning waveform and frequency characteristics.

[0061] In the result reflection process, the processing unit 14 reflects the adjusted setting values ​​of the parameters included in the evaluation index in the setting values ​​of the parameters stored in the storage unit 11 in response to the operation of the operation input unit 12. That is, the processing unit 14 overwrites the adjusted setting values ​​of the parameters stored in the storage unit 11 with the adjusted setting values ​​of the parameters in response to the operation of the operation input unit 12, and stores the overwritten setting values.

[0062] (2-5) 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 fifth adjustment functions differ from each other in the accuracy of parameter adjustment. The first to third adjustment functions and the fifth adjustment function 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.

[0063] In the first adjustment function, the processing unit 14 causes the servo adjustment unit 43 of the servo amplifier 23 to operate the servo motor 21 once based on the setting values ​​of the positioning waveform stored in the storage unit 231 using the setting values ​​(e.g., initial values) of the parameters stored in the storage unit 231, and to measure the positioning waveform resulting from this operation. The processing unit 14 controls the servo adjustment unit 43 of 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 positioning waveform approaches the setting value of the positioning 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 positioning waveform. The processing unit 14 controls the servo adjustment unit 43 of the servo amplifier 23 to output evaluation indices (e.g., the adjusted setting values ​​of the parameters, the setting values ​​and measured values ​​of the positioning waveform of the servo motor 21, and the frequency characteristics of the servo motor 21) as adjustment results to the processing unit 232. The processing unit 14 displays the evaluation indices acquired from the servo amplifier 23 (more specifically, the servo adjustment unit 43) on the display unit 13 as adjustment results. This allows the user to check the evaluation index (adjustment result) displayed on the display unit 13.

[0064] The first adjustment function is a function that adjusts parameters by changing the parameter setting value only 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 positioning 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.

[0065] In the second adjustment function, the processing unit 14 causes the servo adjustment unit 43 of the servo amplifier 23 to change the parameter setting values ​​stored in the storage unit 231 N1 times (for example, N1 = an integer between 2 and 4). The processing unit 232 of the servo amplifier 23 operates the servo motor 21 based on the positioning 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 causes the servo adjustment unit 43 of the servo amplifier 23 to measure the measurement value of the positioning waveform resulting from each of these operations. In this case, when changing the parameter setting value each time one of the N1 changes is made, the processing unit 14 controls the servo adjustment unit 43 of the servo amplifier 23 to change (i.e., adjust) the parameter setting value by a predetermined amount so that the measurement value of the positioning waveform approaches the positioning waveform setting value even more closely. The predetermined amount is, for example, an amount determined in advance according to the difference between the setting value and the measurement value of the positioning waveform. As described above, in the second adjustment function, the processing unit 14 controls the servo adjustment unit 43 of 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 positioning waveform approaches the positioning waveform setting value even closer. The processing unit 14 controls the servo adjustment unit 43 of the servo amplifier 23 to output evaluation indices (e.g., the adjusted parameter setting value, the positioning waveform setting value and final measured value of the servo motor 21, and the frequency characteristics of the servo motor 21) as adjustment results to the processing unit 14. The processing unit 14 displays the evaluation indices acquired from the servo amplifier 23 as adjustment results on the display unit 13. This allows the user to check the evaluation indices displayed on the display unit 13.

[0066] 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)). Compared to the first adjustment function, the second adjustment function changes the parameter setting values ​​more times, so the measured values ​​of the positioning waveform can be brought even closer to the setting values ​​of the positioning waveform. Therefore, the second adjustment function has higher parameter adjustment accuracy than the first adjustment function. However, compared to the first adjustment function, the second adjustment function requires more adjustment time because the servo motor 21 operates more times.

[0067] In the third adjustment function, the processing unit 14 causes the servo adjustment unit 43 of 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 232 of the servo amplifier 23 operates the servo motor 21 based on the positioning 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 then causes the servo amplifier 23 to measure the measurement value of the positioning waveform resulting from this operation. When changing the parameter setting value each time one of the N2 changes is made, the processing unit 14 changes (i.e., adjusts) the parameter setting value by a predetermined amount so that the measurement value of the positioning waveform approaches the positioning waveform setting value even more closely. The predetermined amount is, for example, an amount determined in advance according to the difference between the setting value and the measurement value of the positioning waveform. As described above, in the second adjustment function, the processing unit 14 controls the servo adjustment unit 43 of 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 positioning waveform approaches the positioning waveform setting value even closer. The processing unit 14 controls the servo adjustment unit 43 of the servo amplifier 23 to output evaluation indices (e.g., the adjusted parameter setting value, the positioning waveform setting value and final measured value of the servo motor 21, and the frequency characteristics of the servo motor 21) as adjustment results to the processing unit 14. The processing unit 14 displays the evaluation indices acquired from the servo amplifier 23 as adjustment results on the display unit 13. This allows the user to check the evaluation indices (adjustment results) displayed on the display unit 13.

[0068] The third adjustment function is a function that adjusts parameters with relatively high adjustment accuracy by changing the parameters a sufficient 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., first to fourth adjustment functions). Therefore, the third adjustment function can bring the measured value of the positioning waveform closest to the set value of the positioning 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.

[0069] 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 adjustment unit 43 of 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 232 of the servo amplifier 23 operates the servo motor 21 based on the positioning waveform setting values ​​stored in the memory unit 231 using the changed parameter setting values. The processing unit 14 measures the measurement values ​​of the positioning waveform resulting from this operation. The processing unit 14 controls the servo adjustment unit 43 of the servo amplifier 23 to output evaluation indices (e.g., parameter setting values ​​after adjustment, positioning waveform setting values ​​and measurement values ​​of the servo motor 21, and frequency characteristics of the servo motor 21) as adjustment results to the processing unit 14. The processing unit 14 displays the evaluation indices acquired from the servo amplifier 23 as adjustment results on the display unit 13. This allows the user to check the adjustment results displayed on the display unit 13.

[0070] 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.

[0071] The fifth adjustment function performs load fluctuation suppression adjustment (also referred to as load fluctuation stabilization adjustment). The load fluctuation suppression adjustment adjusts 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 adjustment unit 43 of 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 adjustment unit 43 of the servo amplifier 23 to adjust the parameter setting values ​​so that, when the load 2 transports each transport object, the measured value of the positioning waveform of the servo motor 21 falls within a certain range of the positioning waveform setting values.

[0072] (2-6) Example of a Result Screen A result screen G1, which is an example of a result screen, will be described with reference to Fig. 3. As described above, the result screen G1 is a screen that displays the adjustment results (evaluation indexes) of the parameters set in the servo amplifier 23. As shown in Fig. 3, the result screen G1 has a parameter column 50, a waveform measurement result column 51, and a frequency characteristic column 52.

[0073] In the example of FIG. 3 , the parameter field 50 is located, for example, in the left region of the result screen G1. The parameter field 50 includes a list 50a of various parameters to be adjusted, which are set in the servo amplifier 23, and a pre-adjustment setting value 50b and a post-adjustment setting value 50c of each parameter, arranged side by side. The parameter list 50a includes, for example, an inertia ratio, a first position loop gain, a first speed loop gain, a first speed loop integral time constant, a first speed detection filter, a first torque filter time constant, a second position loop gain, a second speed loop gain, a second speed loop integral time constant, and a second speed detection filter. For example, it can be seen that the pre-adjustment setting for the "inertia ratio" was "62," and the post-adjustment setting value is also "62." In other words, this adjustment result shows that the "inertia ratio" has not been adjusted. Furthermore, it can be seen that the setting value of the "second position loop gain" before adjustment was "480" and the setting value after adjustment was "570", and that this adjustment increased the setting value by "90". The list of parameters 50a, setting values ​​before setting 50b, and setting values ​​after setting 50c shown in FIG. 3 are merely examples, and are not limited to the contents of FIG. 3.

[0074] In the example of FIG. 3 , the waveform measurement result field 51 is located, for example, in the upper part of the right-hand region of the result screen G1. The waveform measurement result field 51 displays, in an overlapping manner, various waveforms measured when the servo motor 21 is operated using the setting values ​​after adjustment in the parameter field 50. The various waveforms include, for example, the waveforms of the actual measurement value M1 of the rotation speed of the servo motor 21, the position command speed M2, the torque command M3, and the command position deviation M4. The horizontal axis N1 of the waveform measurement result field 51 is a time axis common to the various waveforms. The vertical axes L1 to L4 are set individually for each of the various waveforms. The vertical axis L1 is the vertical axis (unit: [r / min]) of the actual measurement value M1 of the rotation speed of the motor 21. The vertical axis L2 is the vertical axis (unit: [r / min]) of the position command speed M2. The vertical axis L3 is the vertical axis (unit: [%]) of the torque command M3. The vertical axis L4 is the vertical axis of the command position error M4 ((16 bits) [instruction units]). In the example of FIG. 3, the position command speed M2 is the set value of the positioning waveform related to the rotation speed of the servo motor 21. The actual measurement value M1 is the measured value of the positioning waveform related to the rotation speed of the servo motor 21. In the example of FIG. 3, in addition to the set value (position command speed M2) and measurement value (actual measurement value M1) of the positioning waveform of the servo motor 21, other evaluation indexes (for example, torque command M3 and command position error M4) are displayed superimposed.

[0075] In the example of FIG. 3 , the frequency characteristics field 52 is located, for example, in the lower section of the right-hand region of the result screen G1. That is, the waveform measurement result field 51 and the frequency characteristics field 52 are arranged vertically. The frequency characteristics field 52 displays the frequency characteristics F1 of the servo motor 21. The frequency characteristics F1 are frequency characteristics based on the setting values ​​after adjustment in the parameter field 50 (i.e., the same setting values ​​as the setting values ​​used in measuring the various waveforms in the waveform measurement result field 51). In the example of FIG. 3 , as the frequency characteristics F1, a graph F11 showing the relationship between the gain and frequency of the servo motor 21 and a graph F12 showing the relationship between the phase and frequency of the servo motor 21 are displayed. The vertical axis of the graph F11 is the gain (unit: dB) and the horizontal axis is the frequency (unit: Hz). The vertical axis of the graph F12 is the phase (unit: deg) and the horizontal axis is the frequency (unit: Hz). The graphs F11 and F12 are arranged, for example, vertically.

[0076] The result screen G1 displays the positioning waveform (actual measurement value M1) and frequency characteristic F1 based on the same parameter setting value side by side. This allows the user to check the effects of changing the parameter setting value on the positioning waveform (actual measurement value M1) and frequency characteristic F1 of the servo motor 21 together. An experienced user (user) can easily consider vibration countermeasures at each point of the positioning waveform (actual measurement value M1) based on the frequency characteristic F1. A beginner user can avoid forgetting to consider vibration countermeasures when checking the positioning waveform (actual measurement value M1) by using the frequency characteristic F1 output together with the positioning waveform (actual measurement value M1).

[0077] The result screen G1 displays a list of parameters 50a, as well as the pre-adjustment setting values ​​50b and post-adjustment setting values ​​50c for each parameter, allowing the user to see at a glance the relationship between the parameter adjustments and the changes in the positioning waveform (actual measurement value M1) and frequency characteristic F1.

[0078] (2-7) Operation The operation of the servo amplifier adjustment device 1 (i.e., the servo amplifier adjustment method) will be described with reference to Fig. 4. The operation of the servo amplifier adjustment device 1 includes a list output step S1, a selection step S2, an adjustment step S3, an index measurement step S4, a result output step S5, and a result reflection step S6.

[0079] In the list output step S1, the processing unit 14 performs a list output process. In the list output process, the processing unit 14 displays a list of a plurality of adjustment functions on the display unit 13. More specifically, the processing unit 14 displays a list screen stored in the storage unit 11 on the display unit 13.

[0080] In the selection step S2, the processing unit 14 performs a selection process. In the selection process, the processing unit 14 accepts, via the operation input unit 12, an input operation for selecting one adjustment function from a list of multiple adjustment functions displayed on the list screen displayed on the display unit 13.

[0081] In the adjustment step S3, 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 multiple adjustment functions displayed on the display unit 13 by operating the operation input unit 12, the processing unit 14 controls the servo adjustment unit 43 of 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 adjustment unit 43 of the servo amplifier 23 adjusts the setting values ​​of the parameters set in the servo amplifier 23 in accordance with the one adjustment function.

[0082] More specifically, under the control of the processing unit 14, the servo adjustment unit 43 of the servo amplifier 23 causes the command response setting function 37 to adjust the parameters of the command response setting unit 32 so that the filter characteristics of the filter calculation process of the command response setting unit 32 match the command response index from the servo adjustment unit 43. Also, under the control of the processing unit 14, the servo adjustment unit 43 causes the stiffness setting function 38 to adjust the parameters of the position and speed control unit 33 so that the disturbance response of the position and speed control unit 33 matches the stiffness index from the servo adjustment unit 43. Also, under the control of the processing unit 14, the servo adjustment unit 43 causes the load characteristic measurement function 39 to automatically estimate the characteristics of the load 2 from the filtered torque command to the servo motor 21 and the rotation angle information from the encoder 22 and the speed and acceleration, which are the high-order differences between them, and reflects the estimation results in the load characteristic compensation unit 34. Also, under the control of the processing unit 14, the servo adjustment unit 43 causes the adaptive filter function 40 to adjust the parameters of the resonance suppression unit 35 so that the vibration component caused by the resonance characteristics between the servo motor 21 and the load 2 approaches zero.

[0083] The processing unit 14 drives the servo motor 21 by controlling the respective units 32 to 35 of the processing unit 232 based on the parameters adjusted as described above. As a result, the load 2 is driven in a predetermined operation pattern. The processing unit 14 controls the processing unit 232 (more specifically, the servo adjustment unit 43) of the servo amplifier 23 to change the parameters of the respective units 32 to 35 of the processing unit 232 the number of times determined by the one adjustment function selected in the selection step S2, as described above. Each time the parameters are changed, the processing unit 232 of the servo amplifier 23 drives the servo motor 21 based on the changed parameters.

[0084] In the index measurement step S4, the processing unit 14 performs an index measurement process. In the index measurement process, the processing unit 14 controls the processing unit 232 (more specifically, the servo adjustment unit 43) of the servo amplifier 23 so as to measure an evaluation index related to the servo motor 21 when the servo motor 21 is driven based on the parameters changed by the adjustment process. The evaluation index includes a positioning waveform and frequency characteristics of the servo motor 21. The processing unit 14 controls the processing unit 232 (more specifically, the servo adjustment unit 43) of the servo amplifier 23 so as to output the measured evaluation index to the processing unit 14.

[0085] In the result output step S5, the processing unit 14 performs a result output process. In the result output process, the processing unit 14 displays the evaluation indexes measured in the index measurement process (index measurement step S4) (i.e., the evaluation indexes after parameter adjustment) on the display unit 13. More specifically, the processing unit 14 displays a result screen G1 on the display unit 13, and displays the evaluation indexes acquired from the servo adjustment unit 43 on the displayed result screen G1. In addition to the positioning waveform (actual measurement value M1) and frequency characteristic F1 measured in the index measurement step S4, the result screen G1 also displays, as evaluation indexes, the setting value 50c after the parameter change and the setting value 50c before the change (see FIG. 3 ).

[0086] In the result reflection step S6, the processing unit 14 performs a result reflection process. In the result reflection process, the processing unit 14 stores the adjustment results (adjusted parameter setting values) in the adjustment step S3 in the storage unit 11 in response to the operation of the operation input unit 12. That is, the processing unit 14 overwrites the adjustment results on the parameter setting values ​​stored in the storage unit 11 and stores them in response to the operation of the operation input unit 12. Then, the process ends.

[0087] (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 (index measurement step S4), a second step (index measurement step S4), and a third step (result output step S5). In the first step, a parameter setting value 50b is changed, and the servo motor 21 is driven based on the changed parameter setting value 50c. This measurement measures a positioning waveform (actual measurement value M1) of the servo motor 21. In the second step, a frequency characteristic F1 is measured, which is a characteristic related to the positioning waveform (actual measurement value M1) measured in the first step and is based on the same setting value as the changed setting value 50c used in the first step. In the third step S5, the measured positioning waveform (actual measurement value M1) and frequency characteristic F1 are output from the output unit (display unit 13).

[0088] With this configuration, the positioning waveform (actual measurement value M1) and frequency characteristic F1 based on the same setting value 50c can be output from the output unit (display unit 13). As a result, the user can simultaneously check the influence of changing the parameter setting value on the positioning waveform (actual measurement value M1) and frequency characteristic F1 of the servo motor 21.

[0089] Furthermore, in the servo amplifier adjustment method according to this embodiment, the output unit is the display unit 13. The display unit 13 displays the positioning waveform (actual measurement value M1) and the frequency characteristic F1 side by side on the same result screen G1. This configuration has the advantage of making it easy to compare the positioning waveform (actual measurement value M1) and the frequency characteristic F1.

[0090] Furthermore, in the servo amplifier adjustment method according to this embodiment, the output section (display section 13) outputs (displays) as frequency characteristic F1 at least one (both in the example of FIG. 3 ) of the relationship between gain and frequency of servo motor 21 (graph F11) and the relationship between phase and frequency of servo motor 21 (graph F12). With this configuration, it is possible to display, as frequency characteristic F1, only the necessary one of the relationship between gain and frequency (graph F11) and the relationship between phase and frequency (graph F12) on the display section 13.

[0091] In the servo amplifier adjustment method according to this embodiment, in the result output step S5 (third step), the output unit 13 further outputs the changed parameter setting value 50c and the original parameter setting value 50b. With this configuration, the user can also check the changed parameter setting value 50c and the original parameter setting value 50b.

[0092] (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.

[0093] A servo amplifier adjustment device 1 according to one 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 a first measurement unit (processing unit 14), a second measurement unit (processing unit 14), and an output unit (display unit 13). The first measurement unit measures a positioning waveform (actual measurement value M1) of the servo motor 21 when the servo motor 21 is driven based on a changed parameter setting value 50c. The second measurement unit measures a frequency characteristic F1, which is a characteristic related to the positioning waveform (actual measurement value M1) measured by the first measurement unit and is based on the same setting value as the changed setting value 50c used by the first measurement unit. The output unit outputs the measured positioning waveform (actual measurement value M1) and frequency characteristic F1.

[0094] A program according to another aspect is a program for causing a computer to execute a servo amplifier adjustment method.

[0095] A non-transitory recording medium according to another aspect is a recording medium for recording a program for causing a computer to execute a servo amplifier adjusting method.

[0096] (5) Modifications The embodiment is merely one of various embodiments of the present disclosure. The 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 embodiment are listed below. The modifications described below can be applied in appropriate combinations.

[0097] (5-1) Variant 1 (5-1-1) Configuration The result screen G2 of variant 1 is configured in the same way as the result screen G1 of the embodiment, except that the way the positioning waveform (actual measurement value M1) and frequency characteristic F1 are output (displayed) is different.

[0098] 5 is an explanatory diagram illustrating a state in which the positioning waveform is displayed on the result screen G2 of Modification 1. As shown in FIG. 5, the result screen G2 of Modification 1 has a parameter field 50 and a waveform display field 53.

[0099] The parameter column 50 is the same as the parameter column 50 on the result screen G1 of the embodiment. That is, the parameter column 50 is located, for example, in the left region of the result screen G2. The parameter column 50 includes a list 50a of various parameters to be adjusted, which are set in the servo amplifier 23, and a set value 50b before adjustment and a set value 50c after adjustment for each parameter, arranged side by side.

[0100] The waveform display field 53 is arranged, for example, in the right area of ​​the result screen G2. The waveform display field 53 has a first screen 44 and a second screen 45.

[0101] The first screen 44 displays various waveforms (e.g., waveforms of the actual measurement value M1, the position command speed M2, the torque command M3, and the command position deviation M4) displayed in the waveform measurement result field 51 of the result screen G1 of the embodiment. The second screen 45 displays the frequency characteristic F1 (e.g., graphs F11 and F12) displayed in the frequency characteristic field 52 of the result screen G1 of the embodiment. The first screen 44 and the second screen 45 are smaller than the result screen G2. The first screen 44 and the second screen 45 are displayed overlapping each other in the waveform display field 53.

[0102] Here, "the first screen 44 and the second screen 45 are displayed overlapping each other in front and behind in the waveform display field 53" means that of the first screen 44 and the second screen 45, the screen arranged in the front is displayed in the waveform display field 53 (i.e., displayed in the result screen G1), and the screen arranged in the back is hidden behind the screen arranged in the front and is not displayed in the waveform display field 53 (i.e., not displayed in the result screen G1). Of the first screen 44 and the second screen 45, the screen selected by operation of the operation input unit 12 is displayed overlapping in front of the other screen that is not selected. The example of FIG. 5 shows a case where the first screen 44 is displayed overlapping in front. FIG. 6 is an explanatory diagram illustrating a state in which the result screen G2 of Modification Example 1 displays frequency characteristics. FIG. 6 shows a case where the second screen 45 is displayed overlapping in front.

[0103] 5, the first screen 44 has a main screen 44a and a first tab 44b. The main screen 44a displays various waveforms (e.g., waveforms of the actual measurement value M1, the position command speed M2, the torque command M3, and the command position deviation M4) displayed in the waveform measurement result field 51 of the result screen G1 of the embodiment. The main screen 44a is, for example, a rectangular screen. The first tab 44b is provided so as to protrude outward from the outer periphery (e.g., the top edge) of the main screen 44a. The first tab 44b displays a heading (e.g., "Waveform Measurement Results") indicating the content of the information displayed on the first screen 44.

[0104] As shown in FIG. 6 , the second screen 45 has a main screen 45a and a second tab 45b. The main screen 45a displays the frequency characteristic F1 (e.g., graphs F11 and F12) displayed in the frequency characteristic field 52 of the result screen G1 in the embodiment. The main screen 45a is a screen (e.g., a rectangular screen) of the same shape and size as the main screen 44a of the first screen 44. The second tab 45b is provided so as to protrude outward from the outer periphery (e.g., the top edge) of the main screen 45a. The second tab 45b displays a heading (e.g., "Frequency Characteristic") indicating the content of the information displayed on the second screen 45.

[0105] 5, the first screen 44 and the second screen 45 are displayed overlapping each other in the front and back. In this display state, the screen body 44a of the first screen 44 and the screen body 45a of the second screen 45 are displayed overlapping each other in the front and back. As a result, of the screen body 44a and the screen body 45a, the screen body (e.g., the screen body 44a) that is arranged on the front side is displayed on the result screen G2. The screen body (e.g., the screen body 44a) that is arranged on the rear side is hidden behind the screen body (e.g., the screen body 44a) that is arranged on the front side and is not displayed on the result screen G2.

[0106] In the above display state (i.e., a state in which the first screen 44 and the second screen 45 are displayed one above the other), the first tab 44b and the second tab 45b are displayed side by side (e.g., horizontally) on the result screen G2 so as not to overlap each other. When one of the first tab 44b and the second tab 45b is selected by operating the operation input unit 12, the screen of the first screen 44 or the second screen 45 having the tab selected by operating the operation input unit 12 is displayed in front of the other screen not selected by operating the operation input unit 12. In other words, the user can selectively rearrange and display the first screen 44 and the second screen 45 in the front and rearward so as not to display the remaining screens by operating the operation input unit 12.

[0107] (5-1-2) Effects In the servo amplifier adjustment method according to the first modification, the output unit is the display unit 13. The display unit 13 displays a first screen 44 and a second screen 45 in a front-to-back overlapping manner. The first screen 44 displays a positioning waveform (e.g., actual measurement value M1). The second screen 45 displays a frequency characteristic F1 (e.g., graphs F11 and F12). The display unit 13 displays one of the first screen 44 and the second screen 45, selected by operation of the operation input unit 12, in front of and overlapping the remaining unselected screen of the operation input unit 12. With this configuration, when the screen G2 of the display unit 13 is small, the positioning waveform (actual measurement value M1) and the frequency characteristic F1 (e.g., graphs F11 and F12) can be displayed on the display unit 13 as large as possible for easy viewing.

[0108] In the servo amplifier adjustment method according to the first modification, the first screen 44 has a first tab 44b. The second screen 45 has a second tab 45b. The first tab 44b and the second tab 45b are displayed side by side on the display unit 13 so as not to overlap each other, with the first screen 44 and the second screen 45 being displayed on the display unit 13 in a front-to-back overlapping state. With this configuration, by selecting the first tab 44b or the second tab 45b, the positioning waveform (e.g., the actual measurement value M1) and the frequency characteristic F1 (e.g., the graphs F11 and F12) can be selectively displayed on the display unit 13.

[0109] (5-2) Modification 2 In the 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. The output unit may be, for example, an audio output unit that outputs the screen contents of the list screen and the result screen G1 by audio. Furthermore, the output unit may be configured by combining the display unit 13 and an audio output unit.

[0110] (5-3) Modification 3 In this embodiment, the processing unit 14, in the second adjustment function, 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). In the second adjustment function, the processing unit 232 of the servo amplifier 23 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). In the second adjustment function, the processing unit 14 measures the measured values ​​of the operating waveform resulting from that 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.

[0111] Similarly, in the 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. In the third adjustment function, the processing unit 232 of the servo amplifier 23 causes the servo motor 21 to operate 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). In the third adjustment function, the processing unit 14 causes the processing unit 14 to measure the measured value of the operating waveform resulting from that 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.

[0112] (Aspects) As is clear from the above-described embodiments and modifications, the present specification discloses the following aspects.

[0113] 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 (S4), a second step (S4), and a third step (S5). In the first step (S4), a positioning waveform (actual measurement value M1) of the servo motor (21) is measured when the servo motor (21) is driven based on a changed setting value (50c) of the parameter. In the second step (S4), a frequency characteristic (F1) related to the positioning waveform (actual measurement value M1) measured in the first step (S4) is measured, the frequency characteristic (F1) being based on the same setting value as the changed setting value (50c) used in the first step (S4). In the third step (S5), the measured positioning waveform (actual measurement value M1) and frequency characteristic (F1) are output from an output unit (13).

[0114] According to this configuration, the positioning waveform (actual measurement value M1) and frequency characteristic (F1) based on the same set value (50c) can be output from the output unit (13). As a result, the user can simultaneously check the influence of changing the parameter set value on the positioning waveform (actual measurement value M1) and frequency characteristic (F1) of the servo motor (21).

[0115] In the servo amplifier adjustment method according to the second aspect, in the first aspect, the output unit (13) is a display unit (13). The display unit (13) displays the positioning waveform (actual measurement value M1) and the frequency characteristic (F1) side by side on the same screen (G1; G2).

[0116] This configuration has the advantage that it is easy to compare the positioning waveform (actual measurement value M1) and the frequency characteristic (F1).

[0117] A servo amplifier adjustment method according to a third aspect is the same as that of the first aspect, except that the output unit (13) is a display unit (13). The display unit (13) displays a first screen (44) and a second screen (45) overlapping one another in front of the other. The first screen (44) displays a positioning waveform (actual measurement value M1). The second screen (45) displays a frequency characteristic (F1). The display unit (13) displays one of the first screen (44) and the second screen (45), selected by operation of the operation input unit (12), overlapping it in front of the remaining screen not selected by the operation input unit (12).

[0118] According to this configuration, when the screen (G2) of the display unit (13) is small, the positioning waveform (actual measurement value M1) and frequency characteristic (F1) can be displayed as large as possible on the display unit (13) so that they are easy to see.

[0119] A servo amplifier adjustment method according to a fourth aspect is the third aspect, in which the first screen (44) has a first tab (44b). The second screen (45) has a second tab (45b). The first tab (44b) and the second tab (45b) are displayed side by side on the display unit (13) so as not to overlap each other, with the first screen (44) and the second screen (45) displayed on the display unit (13) overlapping each other front to back.

[0120] According to this configuration, by selecting the first tab (44b) or the second tab (45b), the positioning waveform (actual measurement value M1) and the frequency characteristic (F1) can be selectively displayed on the display unit (13).

[0121] A servo amplifier adjustment method according to a fifth aspect is any one of the first to fourth aspects, in which the output section (13) outputs, as the frequency characteristic (F1), at least one of a relationship (F11) between the gain and frequency of the servo motor (21) and a relationship (F12) between the phase and frequency of the servo motor (21).

[0122] According to this configuration, the necessary one (one or both) of the relationship between gain and frequency (F11) and the relationship between phase and frequency (F12) can be output to the output section (13) as the frequency characteristic (F1).

[0123] The servo amplifier adjustment method according to the sixth aspect is any one of the first to fifth aspects, wherein in the third step (S5), the output unit (13) further outputs the changed setting value (50c) and the setting value (50b) of the parameter before the change.

[0124] A program according to a seventh aspect is a program for causing one or more processors to execute the servo amplifier adjusting method according to the first to sixth aspects.

[0125] According to this configuration, it is possible to provide a program for causing one or more processors to execute the servo amplifier adjustment method.

[0126] A servo amplifier adjustment device (1) according to an eighth 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 a first measurement unit (processing unit 14), a second measurement unit (processing unit 14), and an output unit (display unit 13). The first measurement unit measures a positioning waveform (actual measurement value M1) of the servo motor (21) when a parameter setting value (50b) is changed and the servo motor (21) is driven based on a changed parameter setting value (50c). The second measurement unit measures a frequency characteristic (F1), which is a characteristic related to the positioning waveform (actual measurement value M1) measured by the first measurement unit and is based on the same setting value as the changed setting value (50c) used by the first measurement unit. The output unit (13) outputs the measured positioning waveform (actual measurement value M1) and frequency characteristic (F1).

[0127] With this configuration, the positioning waveform (actual measurement value M1) and frequency characteristic (F1) at the same setting value (50c) can be output from the output unit (13). As a result, the user can check the influence of changing the parameter setting value on the positioning waveform (actual measurement value M1) and frequency characteristic (F1) of the servo motor (21).

[0128] REFERENCE SIGNS LIST 1 Servo amplifier adjustment device 2 Load 12 Operation input section 13 Display section (output section) 14 Processing section (first measurement section, second measurement section) 21 Servo motor 23 Servo amplifier 44 First screen 44b First tab 45 Second screen 45b Second tab F1 Frequency characteristics F11 Relationship between gain and frequency F12 Relationship between phase and frequency G1, G2 Result screen M1 Actual measurement value (positioning waveform) S4 Index measurement process (first process, second process) S5 Result output process (third process)

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 measuring a positioning waveform of the servo motor when the set value of the parameter is changed and the servo motor is driven based on the changed set value of the parameter; a second step of measuring frequency characteristics related to the positioning waveform measured in the first step, the frequency characteristics being based on the same set value as the changed set value used in the first step; and a third step of outputting the measured positioning waveform and frequency characteristics from an output section.

2. The servo amplifier adjustment method according to claim 1, wherein the output section is a display section, and the display section displays the positioning waveform and the frequency characteristic side by side on the same screen.

3. A servo amplifier adjustment method according to claim 1, wherein the output unit is a display unit, the display unit displays a first screen displaying the positioning waveform and a second screen displaying the frequency characteristic in a front-to-back overlapping manner, and the display unit displays one of the first screen and the second screen selected by operation of an operation input unit in a front-to-back overlapping manner over the remaining screen not selected by the operation input unit.

4. A servo amplifier adjustment method according to claim 3, wherein the first screen has a first tab, the second screen has a second tab, and the first tab and the second tab are displayed on the display unit side by side so as not to overlap each other, with the first screen and the second screen being displayed on the display unit overlapping each other front to back.

5. A servo amplifier adjustment method according to any one of claims 1 to 4, wherein the output section outputs at least one of the relationship between the gain and frequency of the servo motor and the relationship between the phase and frequency of the servo motor as the frequency characteristic.

6. A servo amplifier adjustment method according to any one of claims 1 to 5, wherein in the third step, the output section further outputs the set value after the change and the set value before the change for the parameter.

7. A program for causing one or more processors to execute the servo amplifier adjustment method according to any one of claims 1 to 6.

8. A servo amplifier adjustment device that adjusts parameters set in a servo amplifier that controls a servo motor that drives a load, comprising: a first measurement unit that measures a positioning waveform of the servo motor when the set value of the parameter is changed and the servo motor is driven based on the changed set value of the parameter; a second measurement unit that measures a characteristic related to the positioning waveform measured by the first measurement unit, the frequency characteristic being based on the same set value as the changed set value used by the first measurement unit; and an output unit that outputs the measured positioning waveform and frequency characteristic.

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