Adjustment support method, program, and adjustment support system

Abstract

The present invention improves convenience of a user who performs adjustment for a drive system. This adjustment support method includes determination processing, parameter acquisition processing, physical quantity conversion processing, and adjustment information output processing. The determination processing determines the type of a physical quantity that can change in accordance with the operation of a motor. The parameter acquisition processing acquires parameter information including: a first value and a second value corresponding to two coordinate positions different from each other with respect to a command value; and a first output value and a second output value of the motor corresponding to the first value and the second value, respectively. The physical quantity conversion processing includes: conversion processing for performing, on the basis of the parameter information, unit conversion from the command value to the unit of the type of the physical quantity determined in the determination processing; and inverse conversion processing for performing inverse unit conversion thereof. The adjustment information output processing outputs adjustment information to which the conversion processing or the inverse conversion processing of the physical quantity conversion processing is applied.

Description

Adjustment support method, program, and adjustment support system

[0001] The present disclosure generally relates to an adjustment assistance method, a program, and an adjustment assistance system. More particularly, the present disclosure relates to an adjustment assistance method, a program, and an adjustment assistance system that assist in adjustment of a drive system including a motor and a drive device driven by the power of the motor.

[0002] Patent Document 1 discloses a development system for a servo system. This development system includes a development support device, a servo driver, and a servo motor. The development support device is a device for setting and adjusting control parameters stored in the servo driver. The adjusted control parameters are transferred from the development support device to the servo driver. The servo driver drives the servo motor in accordance with the parameters.

[0003] The development support device also displays multiple machine configurations as candidate target devices on a display device to allow a user to select a target device that utilizes a servo motor and a servo driver. The development support device displays a stiffness value (initial value) corresponding to the selected target device and accepts a user operation to change the initial value. The stiffness value is associated with a predetermined control parameter, and changing the stiffness value also changes the predetermined control parameter.

[0004] JP 2011-244668 A

[0005] Incidentally, when adjusting parameters, users typically evaluate the settling time, which indicates the time it takes for the motor or drive unit's operation to converge to a settling width (a performance index related to stopping accuracy) indicating the target accuracy after the completion of the operation command, as a performance index indicating how quickly and accurately the actual operation of the device (drive unit) follows the desired operation command. This is particularly true for positioning applications, where the focus is on the moment of stopping. Users then adjust the settling time to shorten this time. Furthermore, parameter adjustments may involve adjusting various parameters other than the stiffness mentioned above. However, because there are multiple types of drive units, each with a relatively large number of components, and because multiple pieces of information related to the operation command, motor operation, and device operation are handled, it is necessary to understand the operation information while aligning them, especially when the coordinate systems are different. Therefore, when adjusting parameters, users may find it difficult to input the corresponding drive unit specifications (e.g., actual dimension information) on the input screen where they enter target index values ​​before starting adjustment. Furthermore, when performing the above-mentioned device evaluation, in addition to the position information of the motor mechanically connected to the drive unit of the drive unit, an external sensor such as a laser displacement meter may be used to directly evaluate the operation information of the drive unit. When using external sensors such as laser displacement meters, it may be difficult for users to understand the information displayed on the screen.The cause of these problems is thought to be that the user interface, for example, on the input screen for physical quantities such as settling width, does not support easy input and setting by users without detailed knowledge regarding the units of physical quantities (displacement, angle, etc.) that can change depending on the actual motor operation for various equipment, and the input or output of numerical values ​​in units of sensor measurement values ​​(displacement, angle, etc.).

[0006] The present disclosure has been made in view of the above circumstances, and aims to provide an adjustment support method, program, and adjustment support system that can improve convenience for users who make adjustments related to a drive system.

[0007] An adjustment assistance method according to one aspect of the present disclosure is an adjustment assistance method for assisting adjustment of a drive system. The drive system includes a motor, a drive device, a sensor, and a control device. The drive device is driven by power from the motor. The sensor performs sensing of the motor or the drive device. The control device determines a control value for the motor based on a command value and a sensing result from the sensor, and controls the motor so that the drive device performs a predetermined operation. The adjustment assistance method includes a determination process, a parameter acquisition process, a physical quantity conversion process, and an adjustment information output process. The determination process determines a type of physical quantity that can change depending on the operation of the motor. The parameter acquisition process acquires parameter information including a first value and a second value corresponding to two different coordinate positions with respect to the command value, and a first output value and a second output value of the motor corresponding to the first value and the second value, respectively. The physical quantity conversion process includes a conversion process that performs unit conversion from the command value to a unit of the type of physical quantity determined in the determination process based on the parameter information, and an inverse conversion process that performs unit conversion inversely. In the adjustment information output process, adjustment information relating to the drive system to which the conversion process or inverse conversion process of the physical quantity conversion process has been applied is output.

[0008] An adjustment assistance method according to another aspect of the present disclosure is an adjustment assistance method for assisting adjustment of a drive system. The drive system includes a motor, a drive device, a sensor, and a control device. The drive device is driven by power from the motor. The sensor performs sensing of the motor or the drive device. The control device determines a motor control value based on a command value and a sensing result of the sensor, and controls the motor so that the drive device performs a predetermined operation. The control device has a function of performing AD conversion on an analog output value, which is a sensing result of an external sensor that senses the motor or the drive device separately from the sensor, to obtain a converted value. The adjustment assistance method includes a sensor information acquisition process, a measurement value conversion process, and a specific information output process. The sensor information acquisition process acquires sensor information including a first measurement value, a second measurement value, and a first analog output value and a second analog output value that are output as analog output values. The first measurement value and the second measurement value are values ​​related to the range of measurement values ​​measured by the external sensor. The first analog output value and the second analog output value correspond to the first measurement value and the second measurement value, respectively. The measurement value conversion process includes a conversion process that converts the analog output value or converted value into the unit of the measurement value based on the sensor information, and an inverse conversion process that performs the reverse unit conversion. The specific information output process outputs specific information about the drive system to which the conversion process or inverse conversion process of the measurement value conversion process has been applied.

[0009] A program according to yet another aspect of the present disclosure is a program for causing one or more processors to execute any one of the adjustment support methods described above.

[0010] An adjustment support system according to yet another aspect of the present disclosure supports adjustment of a drive system. The drive system includes a motor, a drive device, a sensor, and a control device. The drive device is driven by power from the motor. The sensor performs sensing of the motor or the drive device. The control device determines a control value for the motor based on a command value and a sensing result from the sensor, and controls the motor so that the drive device performs a predetermined operation. The adjustment support system includes a determination processing unit, a parameter acquisition unit, a physical quantity conversion unit, and an adjustment information output unit. The determination processing unit determines a type of physical quantity that can change depending on the operation of the motor. The parameter acquisition unit acquires parameter information including a first value and a second value corresponding to two different coordinate positions with respect to the command value, and a first output value and a second output value of the motor corresponding to the first value and the second value, respectively. The physical quantity conversion unit has a conversion function that performs unit conversion from the command value to the unit of the type of physical quantity determined by the determination processing unit based on the parameter information, and an inverse conversion function that performs unit conversion in the reverse direction. The adjustment information output unit outputs adjustment information related to the drive system to which conversion by the conversion function of the physical quantity conversion unit or inverse conversion by the inverse conversion function has been applied.

[0011] An adjustment support system according to yet another aspect of the present disclosure supports adjustment of a drive system. The drive system includes a motor, a drive device, a sensor, and a control device. The drive device is driven by power from the motor. The sensor performs sensing of the motor or the drive device. The control device determines a motor control value based on a command value and a sensing result from the sensor, and controls the motor so that the drive device performs a predetermined operation. The control device has a function of performing AD conversion on an analog output value, which is a sensing result of an external sensor that senses the motor or the drive device separately from the sensor, to obtain a converted value. The adjustment support system includes a sensor information acquisition unit, a measurement value conversion unit, and a specific information output unit. The sensor information acquisition unit acquires sensor information including a first measurement value, a second measurement value, and a first analog output value and a second analog output value that are output as analog output values. The first measurement value and the second measurement value are values ​​related to the range of measurement values ​​measured by the external sensor. The first analog output value and the second analog output value correspond to the first measurement value and the second measurement value, respectively. The measurement value converter has a conversion function that converts the analog output value or converted value into the unit of the measurement value based on the sensor information, and an inverse conversion function that converts the analog output value or converted value into the unit of the measurement value. The specific information output unit outputs specific information about the drive system that has been converted by the conversion function of the measurement value converter or inversely converted by the inverse conversion function.

[0012] According to the present disclosure, there is an advantage in that it is possible to improve the convenience of the user who makes adjustments related to the drive system.

[0013] FIG. 1 is a configuration diagram of an entire system including an adjustment support system and a drive system according to an embodiment. FIG. 2 is a block configuration diagram of the drive system according to an embodiment. FIG. 3A is a block configuration diagram of a communication terminal in which the functions of the adjustment support system according to an embodiment are implemented. FIG. 3B is a block configuration diagram of the adjustment support system according to an embodiment. FIG. 3C is a block configuration diagram of a control device in the drive system according to an embodiment. FIG. 4 is a conceptual diagram of a device detail setting screen for a linear motion device to which physical quantity conversion processing is applied in the adjustment support system according to an embodiment. FIG. 5 is a conceptual diagram of a device detail setting screen for a circular motion device to which physical quantity conversion processing is applied in the adjustment support system according to an embodiment. FIG. 6 is a conceptual diagram of a device detail setting screen for an angular motion device to which physical quantity conversion processing is applied in the adjustment support system according to an embodiment. FIG. 7 is a conceptual diagram of a sensor detail setting screen to which measurement value conversion processing is applied in the adjustment support system according to an embodiment. FIG. 8 is a conceptual diagram of another example of a sensor detail setting screen to which measurement value conversion processing is applied in the adjustment support system according to an embodiment. FIG. 9 is a conceptual diagram of yet another example of a sensor detail setting screen to which measurement value conversion processing is applied in the adjustment support system according to an embodiment. FIG. 10 is a graph showing data after conversion by the measurement value conversion process in the adjustment support system according to the embodiment.

[0014] (Summary) The following describes an adjustment support method, a program, and an adjustment support system according to embodiments and modifications, with reference to the drawings. Note that the following embodiments and modifications are merely examples of various embodiments of the present disclosure. Furthermore, the following embodiments and modifications can be modified in various ways depending on the design, etc., as long as the object of the present disclosure can be achieved. Furthermore, the configurations of the modifications can be combined as appropriate.

[0015] The drawings described in the following embodiments and modifications are schematic, and the ratios of the sizes and thicknesses of the components do not necessarily reflect the actual dimensional ratios.

[0016] Fig. 1 is a configuration diagram of an entire system including an adjustment support system 1 and a drive system 2 according to an embodiment. Fig. 2 is a block configuration diagram of the drive system 2 according to an embodiment. The adjustment support method according to this embodiment is a method for supporting adjustments related to the drive system 2 (see Fig. 1).

[0017] As shown in Figures 1 and 2, the drive system 2 includes a motor M1 (e.g., a servo motor), a drive unit 4, a sensor 5 (here, a position detector 51: see Figure 2), and a control device 3 (e.g., a servo amplifier A1). The drive unit 4 is driven by the power of the motor M1. The sensor 5 performs sensing related to the motor M1 or the drive unit 4. The control device 3 determines a control value for the motor M1 based on a command value and the sensing result of the sensor 5, and controls the motor M1 so that the drive unit 4 performs a predetermined operation.

[0018] In this embodiment, it is assumed that the number of motors M1 is one, but the number is not particularly limited.

[0019] In this embodiment, the drive device 4 includes any one of a linear motion device 4A (see FIG. 4), a circular motion device 4B (see FIG. 5), and an angular motion device 4C (see FIG. 6). When the drive device 4 includes the linear motion device 4A or the circular motion device 4B, it may further include a reducer 4D (see FIGS. 4 and 5). The drive device 4 may also be a multi-axis drive device such as a gantry mechanism.

[0020] In this embodiment, the function of the control device 3 is provided in a servo amplifier A1 (see FIG. 1) that drives and controls a motor M1 (servo motor).

[0021] In the following, as an example, it is assumed that the motor M1 is a rotary servo motor. The rotational motion transmitted from the output shaft of the rotary servo motor can be converted into linear motion by a drive device 4 such as a ball screw. However, the motor M1 is not limited to a rotary servo motor and may be a linear servo motor.

[0022] The drive system 2 can be applied to a mounting machine for semiconductor components or the like, a machine for processing materials, or a conveyor for finished products or semi-finished products in a facility such as a factory.

[0023] A user of the drive system 2 may perform a preliminary operational check to confirm whether the desired operation of the drive system 2 is being achieved, for example, before actually operating the drive system 2. For this preliminary operational check, the user may use a user interface to set various parameters related to the drive system 2 (such as the operating range and gain of the moving parts) and then perform a test run of the drive system 2. Furthermore, if an external sensor 8 (see FIG. 2 ; laser displacement meter 81, etc.) is used to check and measure operability, and if an offset error is superimposed on the sensor measurement value, an offset correction value or the like is also set to offset the error so that the error does not affect the operability check. Examples of user interfaces for setting these parameters include laptops, tablet devices, and desktop personal computers. After performing the above-described settings, the user performs a test run to check whether the desired operational performance, such as the settling time, meets the target value. If the desired value is not met, the user adjusts the control parameters of the servo amplifier.

[0024] Understanding the movement of the motor-driven drive unit is crucial for setting up the necessary pre-operation and evaluating its operability. However, because equipment has a variety of drive mechanisms, the movement of the motor and the movement of the drive unit do not necessarily coincide. Furthermore, when using an external sensor 8 to check and measure operability, the change in the external sensor 8 during operation differs from the movement of the motor and drive unit. Furthermore, the motion commands input to the servo amplifier to operate the motor and equipment also differ from the movement of the motor and drive unit. While these values ​​are linearly related, they each use different units. Therefore, proper setting and evaluation are required after understanding the relationship between all units, which can be extremely difficult for non-experts.

[0025] In addition, there may be multiple types of drive units 4 used in a facility. Examples of types of drive units 4 include ball screws, belt pulleys, belt conveyors, pinion racks, traveling carriages, rotating arms, gear transmissions, and timing belts. Some types of drive units 4 may have a large number of components. As a result, it may not be easy for a user to understand the relationships between all of the units while taking into account the type of drive unit 4, and to perform the settings required for preliminary operations and evaluate operability on the user interface screen.

[0026] Therefore, the adjustment support method according to this embodiment includes a determination process, a parameter acquisition process, a physical quantity conversion process, and an adjustment information output process.

[0027] The determination process determines the type of physical quantity (e.g., displacement) that can change depending on the operation of the motor M1. The parameter acquisition process acquires parameter information including a first value and a second value corresponding to two different coordinate positions as command values, and a first output value and a second output value of the motor M1 corresponding to the first value and the second value, respectively.

[0028] The physical quantity conversion process includes a conversion process for converting the command value into a unit of the type of physical quantity determined in the determination process based on parameter information, and an inverse conversion process for converting the unit inversely. The adjustment information output process outputs adjustment information related to the drive system 2 to which the conversion process or inverse conversion process of the physical quantity conversion process has been applied.

[0029] According to the adjustment assistance method of this embodiment, adjustment information to which a conversion process or an inverse conversion process has been applied is output, so that the user can easily make adjustments in units of physical quantities that can change depending on the operation of the motor M1 simply by inputting, for example, on a user interface, minimal and easy-to-understand information indicating the relationship between physical quantities in different units. In other words, it becomes easier to input or output numerical values ​​in units of physical quantities (e.g., displacement). As a result, it is possible to improve the convenience of the user making adjustments to the drive system 2.

[0030] The adjustment support method according to this embodiment is used on a computer system (adjustment support system 1). That is, the adjustment support method according to this embodiment can also be embodied as a computer program. The program according to this embodiment is a program for causing one or more processors to execute the adjustment support method according to this embodiment. The program may be recorded on a computer-readable non-transitory recording medium.

[0031] Furthermore, the adjustment support system 1 according to this embodiment supports adjustment of the drive system 2. Fig. 3B is a block configuration diagram of the adjustment support system 1 according to this embodiment. As shown in Fig. 3B, the adjustment support system 1 includes a determination processing unit 13, a parameter acquisition unit (second acquisition unit 12), a physical quantity conversion unit 14, and an adjustment information output unit 15.

[0032] The determination processing unit 13 determines the type of physical quantity that can change depending on the operation of the motor M1. The parameter acquisition unit (second acquisition unit 12) acquires parameter information including a first value and a second value corresponding to two different coordinate positions with respect to the command value, and a first output value and a second output value of the motor M1 corresponding to the first value and the second value, respectively.

[0033] The physical quantity converter 14 has a conversion function for converting the command value into the unit of the type of physical quantity determined by the determination processor 13 based on the parameter information, and an inverse conversion function for converting the unit in the opposite direction. The adjustment information output unit 15 outputs adjustment information related to the drive system 2 to which the conversion by the conversion function of the physical quantity converter 14 or the inverse conversion by the inverse conversion function has been applied.

[0034] The adjustment support system 1 according to this embodiment has the advantage of being able to improve the convenience of the user who makes adjustments to the drive system 2.

[0035] Furthermore, when evaluating the settling time, which indicates the time it takes for the operation of the motor M1 or the drive device 4 to converge to a settling range (a performance index related to stopping accuracy) that indicates the target accuracy, information based on the sensing results of the external sensor 8 (e.g., laser displacement meter 81, etc.) may be displayed on the display unit, but the user may find it difficult to understand the information displayed on the screen.

[0036] Therefore, an adjustment assistance method according to another example of the present embodiment is an adjustment assistance method that assists in adjustment of the above-described drive system 2. The control device 3 of the above-described drive system 2 has a function of performing AD conversion on an analog output value, which is a sensing result of an external sensor 8 that performs sensing on the motor M1 or the drive device 4, separately from the sensor 5, to obtain a converted value.

[0037] The adjustment assistance method according to the another example includes a sensor information acquisition process, a measurement value conversion process, and a specific information output process. In the sensor information acquisition process, sensor information including a first measurement value, a second measurement value, and a first analog output value and a second analog output value output as analog output values ​​is acquired. The first measurement value and the second measurement value are values ​​related to the range of measurement values ​​measured by the external sensor 8. The first analog output value and the second analog output value correspond to the first measurement value and the second measurement value, respectively.

[0038] The measurement value conversion process includes a conversion process that converts the analog output value or converted value into the unit of the measurement value based on the sensor information, and an inverse conversion process that converts the analog output value or converted value into the unit of the measurement value. The specific information output process outputs specific information about the drive system 2 to which the conversion process or inverse conversion process of the measurement value conversion process has been applied.

[0039] According to the adjustment assistance method of the other example described above, specific information to which a conversion process or an inverse conversion process has been applied is output, making it easier for the user to make adjustments in units of measurement values ​​measured by the external sensor 8. In other words, it becomes easier to handle input or output of numerical values ​​in units of measurement values ​​(displacement, angle, etc.) of the external sensor 8. As a result, it is possible to improve the convenience for the user who makes adjustments related to the drive system 2.

[0040] The adjustment support method according to the another example is used on a computer system (adjustment support system 1). That is, the adjustment support method according to the another example can also be embodied as a computer program. The program according to the another example is a program for causing one or more processors to execute the adjustment support method according to the another example. The program may be recorded on a computer-readable non-transitory recording medium.

[0041] Furthermore, an adjustment support system 1 according to another example of the present embodiment supports adjustment of the drive system 2. The control device 3 of the drive system 2 has a function of performing AD conversion on analog output values, which are sensing results of the external sensors 8, to acquire converted values.

[0042] 3B , the adjustment support system 1 according to the another example includes a sensor information acquisition unit 16, a measurement value conversion unit 17, and a specific information output unit 18. The sensor information acquisition unit 16 acquires sensor information including a first measurement value, a second measurement value, and a first analog output value and a second analog output value that are output as analog output values. The first measurement value and the second measurement value are values ​​related to the range of measurement values ​​measured by the external sensor 8. The first analog output value and the second analog output value correspond to the first measurement value and the second measurement value, respectively.

[0043] The measurement value converter 17 has a conversion function for converting an analog output value or converted value into a unit of measurement value based on sensor information, and an inverse conversion function for converting the unit of measurement value in the opposite direction. The specific information output unit 18 outputs specific information about the drive system 2 to which conversion by the conversion function of the measurement value converter 17 or inverse conversion by the inverse conversion function has been applied.

[0044] The adjustment support system 1 according to the above-described another example has an advantage in that it can improve the convenience of the user who makes adjustments related to the drive system 2.

[0045] In the above example, the settling time was used as an example of the evaluation index value for the operability of the motor M1 and the drive unit 4 just before stopping. However, overshoot may also be used as the evaluation index value. Furthermore, the evaluation index value may be the maximum value or effective value of the difference between the operation detection value and the operation command in order to evaluate the overall operability of the motor M1 and the drive unit 4 during operation. Furthermore, the evaluation index value may be an index value based on the values ​​of an external scale or acceleration sensor connected to the drive system 2 as the external sensor 8. In the case of an external scale, the same index value as that of the laser displacement meter 81 or the position detector 51 may be used as the evaluation index value. In the case of an acceleration sensor, the evaluation index value may be the maximum value or effective value during operation or just before stopping of vibration components extracted from the sensor values ​​using a band-pass filter or the like. Furthermore, a pressure sensor for evaluating the pressing amount using a pressing machine or the like may be used as the external sensor 8. In the case of a pressure sensor, the difference is not in the unit system of the position dimension like the operation command and operation amount described up to this point, but rather in the unit system of the pressure standard, that is, analog value and pressure.However, even in such cases, the difference in the unit systems must be taken into consideration in order to ensure consistency between the two unit systems, and similarly, there are issues that require appropriate consideration of the unit systems when configuring the sensor.

[0046] In the embodiment described below, it is assumed that all of the functions of the adjustment support system 1 are provided in the communication terminal 7 (see FIG. 1 ). However, the functions of the adjustment support system 1 may be provided in a device other than the communication terminal 7. For example, the functions of the adjustment support system 1 may be provided in a distributed manner in multiple devices.

[0047] (Details) (1) Overall Configuration The following describes in detail the overall system including the adjustment support system 1 (communication terminal 7), drive system 2, and their peripheral configuration according to this embodiment, with reference to Figures 1, 2, and 3A to 3C.

[0048] The adjustment support system 1 is configured to support the user in adjusting (setting) various parameters related to the drive system 2 for device evaluation such as settling time, and in adjusting (operational adjustment) the test drive operation to be performed by the drive system 2. The peripheral configuration is, for example, a host controller 6. The host controller 6 may be treated as a configuration of the drive system 2.

[0049] Hereinafter, the test operation of the drive system 2 executed in response to the command position from the communication terminal 7 may be referred to as a "test operation" (predetermined operation). Also, the operation of the drive system 2 related to normal operation of performing processing on an object (workpiece) that is adjusted based on the results obtained from the test operation may be referred to as an "operation operation" (predetermined operation). In this embodiment, the predetermined operation includes, for example, both the test operation and the operation operation.

[0050] The test operation may be performed after assembling various devices of the drive system 2 when the drive system 2 is newly installed or relocated in a facility such as a factory. The test operation may also be performed during regular maintenance of the drive system 2, after confirmation and recovery work has been performed following a malfunction in the drive system 2, or after replacing devices or parts of the drive system 2.

[0051] The test operation can be performed even in a situation where the upper controller 6 is not present because the upper controller 6 is not ready to be configured (i.e., the upper controller 6 is not connected to the control device 3 so that it can communicate with the control device 3).

[0052] The adjustment support method and adjustment support system 1 according to the present disclosure can be applied not only to test operations but also to operational operations.

[0053] 1 and 2, the drive system 2 includes a motor M1 (a rotary servo motor, for example), a drive unit 4, a sensor 5, and a control unit 3 (servo amplifier A1). An external sensor 8 (see FIG. 2) for checking and measuring the operability of the motor M1 and the drive unit 4 may also be applied to the drive system 2.

[0054] The drive device 4 is driven by the power of the motor M1. As described above, multiple types of drive devices 4 are conceivable in the present disclosure. In the present disclosure, the types of drive devices 4 are broadly classified into three types: linear motion devices 4A (see FIG. 4), circular motion devices 4B (see FIG. 5), and angular motion devices 4C (see FIG. 6). In other words, the drive device 4 to be driven includes any of the linear motion devices 4A, circular motion devices 4B, and angular motion devices 4C. A device detail setting screen G1, which will be described later, accepts a selection input from the user to select which of the three broad categories the drive device 4 to be driven falls into.

[0055] The linear motion device 4A is a device in which the movable part (load) of the drive device 4 performs linear motion. For example, a ball screw that converts the rotational motion transmitted from the output shaft of the motor M1 into linear motion is classified as a linear motion device 4A. The following description will use a ball screw as an example of the linear motion device 4A. When the drive device 4 to be driven includes the linear motion device 4A, it is assumed that it also includes a reducer 4D (gear reducer), but the reducer 4D is not essential. The reducer 4D may also be a belt reducer. When the drive device 4 includes a ball screw, the motor M1 may be a linear motor.

[0056] The circular motion device 4B is a device in which the movable part of the drive device 4 moves approximately along a circle. For example, belt pulleys, belt conveyors, pinion racks, traveling carriages, rotating arms, etc. that convert the rotational motion transmitted from the output shaft of the motor M1 into circular motion are classified as circular motion devices 4B. The following description will use a belt pulley as an example of the circular motion device 4B. When the drive device 4 to be driven includes the circular motion device 4B, it is assumed that it also includes a reducer 4D (gear reducer), but the reducer 4D is not essential. The reducer 4D may be a belt reducer.

[0057] The angular motion device 4C is a device that rotates the movable part of the drive device 4. For example, a transmission (e.g., a reducer) that performs rotational motion in response to the rotational motion transmitted from the output shaft of the motor M1, and a timing belt are classified as the angular motion device 4C. In the following, a reducer 4D (gear reducer) will be described as an example of the angular motion device 4C. The reducer 4D may also be a belt reducer.

[0058] The sensor 5 performs sensing related to the motor M1 or the drive device 4. The number and type of sensors 5 are not particularly limited. For example, the drive system 2 may be equipped with multiple sensors 5. Specifically, the multiple sensors 5 may include a position detector 51 such as an encoder that detects the rotation direction and position (angle) of the motor M1. The multiple sensors 5 may further include a speed sensor that detects the speed of the motor M1 or the drive device 4 (moving part thereof), an acceleration sensor that detects acceleration, a force sensor that detects thrust (or torque), and a vibration sensor that detects vibration. The force sensor may be, for example, a piezoelectric, magnetostrictive, or strain gauge type force sensor.

[0059] The external sensor 8 performs sensing related to the motor M1 or the drive device 4 separately from the sensor 5. In the following, as an example, the description may be made assuming that the external sensor 8 is a laser displacement meter 81 (see FIG. 2 ) that detects the amount of movement (displacement) of a movable part in the drive device 4.

[0060] The control device 3 (servo amplifier A1) determines a control value for the motor M1 based on the command value and the sensing result of the sensor 5, and controls the motor M1 so that the drive device 4 performs a predetermined operation (test operation and operating operation). Note that here, it is assumed that the sensing result of the external sensor 8 (laser displacement meter 81) is used to confirm and measure the operability of the motor M1 and the drive device 4, but is not used to determine the control value for the motor M1. However, the sensing result of the external sensor 8 may also be used to determine the control value for the motor M1.

[0061] For example, during operation, the control device 3 controls the drive of the motor M1 to perform a predetermined operation (operation) while performing feedback control based on a position detection signal from the position detector 51 (sensor 5) of the motor M1 and an operation control signal including a command value (command position) from the upper controller 6. Specifically, as shown in FIG. 2 , the control device 3 includes a position / speed control unit 30. The position / speed control unit 30 performs feedback control so that the operation amount (detection value) related to the position of the motor M1 from the position detector 51 (sensor 5) matches the position command value of the motor M1 as an operation command from the upper controller 6, determines the speed of the motor M1, and outputs a speed command signal. The output signal indicating the detection value output from the position detector 51 is expressed in units of pulses.

[0062] Also, for example, during a test operation, the control device 3 controls the drive of the motor M1 to perform a predetermined operation (test operation) based on a position detection signal from the sensor 5 and a test control signal including a command value (command position) from the communication terminal 7.

[0063] The "command unit" of the "command value (command position)" that is the operation command from the upper controller 6 or the communication terminal 7 is, for example, pulses. Generally, to accommodate controller limitations, such as only being able to output a coarse resolution to the motor's position detector, the servo amplifier can be configured with electronic gear settings so that it can operate at different pulse units for the motor's position detector and the operation command from the upper controller, etc. The control device 3 (servo amplifier A1) can also perform such electronic gear settings. By setting the gear ratio of the electronic gear in the servo amplifier A1, the command value (number of pulses) from the upper controller 6 or the communication terminal 7 is multiplied by the gear ratio to determine the motor output (angle). In other words, the electronic gear settings allow the number of pulses of the external operation command to be freely processed, and the motor output is determined by the processed number of pulses. For example, a 10,000-pulse operation command (command value) from the upper controller 6 can result in a motor output of 360 degrees (i.e., one rotation).

[0064] The test operation may be, for example, an operation in which the drive unit 4 is displaced (moved, rotated) from the origin position (start position) to a positive position (end position) specified by the command position. The start position may be a position other than the origin position. The test operation may also be an operation in which the drive unit 4 is displaced from the origin position (start position) to a negative position (end position) specified by the command position. The test operation may also be a reciprocating operation from the origin position (start position) to a positive position and then back to the origin position (end position). The test operation may also be a reciprocating operation on the positive and negative sides from the origin position (start position) to a positive position, back to the origin position, displaced to a negative position, and then back to the origin position (end position).

[0065] 3C is a block diagram of the control device 3 in the drive system 2 according to the embodiment. As shown in FIG. 3C, the control device 3 includes a processing unit 31, an AD conversion unit 32, a power conversion unit 33, and a storage unit 34.

[0066] The processing unit 31 includes a computer system having one or more processors and a memory. At least some of the functions of the processing unit 31 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

[0067] The processing unit 31 determines a control value in accordance with a speed command signal from the position / speed control unit 30. The control value may include, for example, a command value for the torque of the motor M1 (which may be thrust if the motor M1 is a linear motor). Based on the determined control value (torque command value), the processing unit 31 controls the power conversion unit 33 to adjust the power (drive current) supplied to the motor M1. In this way, the processing unit 31 drives the movable part of the drive device 4 to a predetermined position.

[0068] The control device 3 is communicably connected to the sensor 5 (position detector 51) and the external sensor 8 (laser displacement meter 81), and receives the sensing results of the sensor 5 and the external sensor 8. The control device 3 receives the sensing results of the external sensor 8 as an analog voltage signal (or may receive a current signal).

[0069] The AD conversion unit 32 performs analog-to-digital (AD) conversion on the analog output value (voltage value or current value) that is the sensing result of the external sensor 8, and outputs the converted value obtained by the AD conversion to the processing unit 31. The converted value may be, for example, an analog quantization unit value [LSB: Least Significant Bit].

[0070] The control device 3 transmits various types of information during the test operation or operation to the communication terminal 7. For example, the control device 3 transmits information including the sensing results (digital values ​​based on converted values) of the external sensor 8 such as the laser displacement meter 81 during the test operation or operation. The communication terminal 7 can graph and output evaluation information (specific information) regarding the drive device 4 based on the information received from the control device 3. The communication method between the control device 3 and the communication terminal 7 may be wireless or wired.

[0071] The storage unit 34 includes an electrically rewritable non-volatile semiconductor memory such as a flash memory. The storage unit 34 is configured to be able to store (store) information calculated by the communication terminal 7. The information stored in the storage unit 34 can be updated by the processing unit 31.

[0072] During test operation or operating operation, the control device 3 adjusts the drive current and controls the motor M1 based on operation commands from the upper controller 6 or communication terminal 7, the operation amount from the position detector 51 (sensor 5), and control parameters.

[0073] (3) Upper-level Controller The upper-level controller 6 includes a computer system having one or more processors and a memory. At least some of the functions of the upper-level controller 6 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be provided by being recorded on a non-transitory recording medium such as a memory card.

[0074] The upper controller 6 is configured using, for example, a programmable logic controller (PLC) or the like, and controls the operation of the control device 3 (servo amplifier A1). When the upper controller 6 is connected to the control device 3 so as to be able to communicate with it, it outputs a control signal to the control device 3. In this way, the upper controller 6 controls the operation of the control device 3. The communication method may be wireless or wired. The control signal includes data for specifying a command value (command position).

[0075] (4) Communication Terminal The communication terminal 7 is assumed to be a notebook computer as shown in Fig. 1. However, the communication terminal 7 may be a tablet terminal, a mobile terminal such as a smartphone, a desktop personal computer, or a server device.

[0076] The communication terminal 7 is connected to the control device 3 (servo amplifier A1) so as to be able to communicate with it. The communication method between the communication terminal 7 and the control device 3 is not particularly limited, and may be wireless or wired. For example, the communication terminal 7 is assumed to be disconnected from the control device 3 during operation, and connected to the control device 3 only when performing a test operation. However, the communication terminal 7 may be connected to the control device 3 even during operation.

[0077] 3A is a block diagram of a communication terminal 7 in which the functions of the adjustment support system 1 according to the embodiment are implemented. As shown in FIG. 3A , the communication terminal 7 includes a display unit 70, a processing unit 71, an operation unit 72, and a storage unit 73. If the communication terminal 7 does not include the display unit 70, it is preferable that a separate display device be attached to the communication terminal 7.

[0078] The processing unit 71 includes a computer system having one or more processors and a memory. At least some of the functions of the processing unit 71 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

[0079] The processing unit 71 has a command function for issuing a command to execute a test operation. The processing unit 71 also has the functions of the adjustment support system 1 according to this embodiment. The communication terminal 7 is pre-installed with dedicated application software for communicating with the control device 3 and for providing the functions of issuing a command for the test operation and the adjustment support system 1. Details of the adjustment support system 1 will be described later.

[0080] The display unit 70 is configured by, for example, a liquid crystal display or an organic EL (Electro-Luminescence) display, or may be configured by a touch panel display.

[0081] The operation unit 72 includes, for example, one or more of a mouse, a keyboard, a pointing device, etc. The user operates the operation unit 72 and inputs information while referring to the information displayed on the display unit 70. For example, the user connects the communication terminal 7 to the control device 3 to start a test operation. Then, the user uses the operation unit 72 to start dedicated application software on the communication terminal 7 and performs operation input related to outputting the above-mentioned command position to the control device 3. If the display unit 70 is configured as a touch panel display, it also functions as the operation unit 72.

[0082] The storage unit 73 includes an electrically rewritable nonvolatile semiconductor memory such as a flash memory. The storage unit 73 stores (contains) information such as parameter information input on a device detail setting screen G1 and sensor detail setting screens G2 to G4 (described later), information on conversion formulas generated based on the parameter information, and command positions. The storage unit 73 may be a memory of the processing unit 71.

[0083] (5) Adjustment Support System The configuration of the adjustment support system 1 will now be described in detail.

[0084] The adjustment support system 1 includes a computer system having one or more processors and a memory. At least some of the functions of the adjustment support system 1 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be provided by being recorded on a non-transitory recording medium such as a memory card.

[0085] The adjustment support system 1 supports adjustment of the drive system 2. As shown in Fig. 3B , the adjustment support system 1 includes a first acquisition unit 11 (type acquisition unit), a second acquisition unit 12 (parameter acquisition unit), a determination processing unit 13, a physical quantity conversion unit 14, an adjustment information output unit 15, a sensor information acquisition unit 16, a measurement value conversion unit 17, and a specific information output unit 18. The functions of each of these units are implemented in a processing unit 71 of the communication terminal 7. The sensor information acquisition unit 16, the measurement value conversion unit 17, and the specific information output unit 18 will be described in detail below.

[0086] The first acquisition unit 11 (type acquisition unit) acquires type information that specifies the type of the drive device 4. In other words, the adjustment support method includes a first acquisition process (type acquisition process), and the first acquisition process (type acquisition process) acquires the above-mentioned type information. Note that the first acquisition unit 11 (type acquisition unit) is not essential for the adjustment support system 1, and similarly, the first acquisition process (type acquisition process) is not essential for the adjustment support method.

[0087] The determination processing unit 13 determines the type of physical quantity that can change depending on the operation of the motor M1. In other words, the adjustment support method includes a determination process, and the determination process determines the type of physical quantity that can change depending on the operation of the motor M1.

[0088] Here, as an example, the determination processing unit 13 determines the type of physical quantity that can change depending on the operation of the motor M1, based on the type of drive device 4 specified by the type information. In other words, the adjustment support method includes a determination process, and in the determination process, the type of the physical quantity is determined based on the type of drive device 4 specified by the type information.

[0089] In this embodiment, the types of drive devices 4 are broadly categorized, and the user specifies (selects) the type of drive device 4 to be driven from among three types: linear motion device 4A, circular motion device 4B, and angular motion device 4C.

[0090] FIG. 4 is a conceptual diagram of a device detail setting screen G1 for a linear motion device 4A to which physical quantity conversion processing in the adjustment support system 1 according to the embodiment is applied. FIG. 5 is a conceptual diagram of a device detail setting screen G1 for a circular motion device 4B to which physical quantity conversion processing in the adjustment support system 1 according to the embodiment is applied. FIG. 6 is a conceptual diagram of a device detail setting screen G1 for an angular motion device 4C to which physical quantity conversion processing in the adjustment support system 1 according to the embodiment is applied. The adjustment support system 1 has a function of displaying the device detail setting screen G1 shown in FIGS. 4 to 6 on the display unit 70. The device detail setting screen G1 can be displayed, for example, as a window screen when a user uses the operation unit 72 to start dedicated application software on the communication terminal 7 and performs an operation input for performing device detail setting.

[0091] [Device Detail Setting Screen] The device detail setting screen G1 includes a selection area R0 (see FIGS. 4 to 6) for specifying a "device type." The selection area R0 is an area with a so-called pull-down function and includes a down arrow mark. When the user uses the operation unit 72, such as a mouse, to press the down arrow mark button in the selection area R0 with a pointer or the like, a list of selectable types of linear motion devices, circular motion devices, and angular motion devices is displayed. When the user selects one device from the list, an image area related to the corresponding device is displayed on the device detail setting screen G1. The first acquisition unit 11 acquires the "device type" selected by the user in the selection area R0 as type information.

[0092] As shown in Fig. 4, when the user selects "Linear Motion Device" in the selection area R0, an image area related to the linear motion device 4A is displayed on the device details setting screen G1. Also, as shown in Fig. 5, when the user selects "Circular Motion Device" in the selection area R0, an image area related to the circular motion device 4B is displayed on the device details setting screen G1. Also, as shown in Fig. 6, when the user selects "Angular Motion Device" in the selection area R0, an image area related to the angular motion device 4C is displayed on the device details setting screen G1.

[0093] To facilitate user understanding, the device detail setting screen G1 includes an image area R1 that schematically shows a series of input / output flows from "Amplifier / Motor Electronic Gear Settings" to "(Selected) Drive Device 4," and icon images R2 and R3 that schematically show the selected drive device 4. As shown in FIG. 6 , depending on the type of selected drive device 4, only one of the icon images R2 and R3 may be displayed.

[0094] The right edge of image region R1 shows a physical quantity related to the operation of drive unit 4. Displacement [mm] (i.e., amount of movement) is shown in Figures 4 and 5, and angle [deg] is shown in Figure 6. This physical quantity is the type of physical quantity related to the operation of drive unit 4 (selected in selection region R0) determined by determination processing unit 13 based on the type of drive unit 4 specified by the type information.

[0095] The determination processing unit 13 is configured to determine the type of physical quantity to be "displacement" when the type of drive device 4 specified by the type information is a linear motion device 4A or a circular motion device 4B. In Figures 4 and 5, this is expressed as displacement [mm]. In other words, when the type of drive device 4 specified by the type information is a linear motion device 4A or a circular motion device 4B, the determination processing related to the adjustment support method determines the type of physical quantity to be displacement.

[0096] Furthermore, the determination processing unit 13 is configured to determine the type of physical quantity to be "angle" when the type of drive device 4 specified in the type information is the angular motion device 4C. In other words, when the type of drive device 4 specified in the type information is the angular motion device 4C, the determination processing related to the adjustment support method determines the type of physical quantity to be angle.

[0097] Correspondence information indicating which type of device, the linear motion device 4A, the circular motion device 4B, or the angular motion device 4C, corresponds to which type of physical quantity is stored in the storage unit 73, and the determination processing unit 13 may determine the type of physical quantity by referring to the correspondence information.

[0098] In this embodiment, it is assumed that the "physical quantity that can change depending on the operation of the motor M1" is a physical quantity that is suitable for display in a way that is easy for the user to intuitively understand, such as a displacement or an angle.

[0099] The icon image R2 may be displayed when the selected drive device 4 includes a reducer 4D. As shown in FIGS. 4 and 5 , the icon image R2 may be displayed when a linear motion device 4A or a circular motion device 4B is selected. The icon image R2 schematically shows an image of a motor M1 and an image of a reducer 4D. The driving wheel (gear) of the reducer 4D is connected to the output shaft of the motor M1. The driving wheel rotates due to the rotation of the output shaft of the motor M1, and the driven wheel (gear) of the reducer 4D rotates at a reduced speed. The driven wheel is connected to transmit its rotation to a subsequent device (the linear motion device 4A in FIG. 4 or the circular motion device 4B in FIG. 5 ).

[0100] The icon image R3 schematically shows a selected device from the linear motion device 4A, the circular motion device 4B, and the angular motion device 4C. In Fig. 4, the icon image R3 schematically shows a picture of a ball screw as an example of the linear motion device 4A. In Fig. 5, the icon image R3 schematically shows a picture of a belt pulley as an example of the circular motion device 4B. In Fig. 6, the icon image R3 schematically shows a picture of a reducer 4D as an example of the angular motion device 4C. In Fig. 6, since the drive device 4 includes only the reducer 4D, the icon image R3 also schematically shows a picture of the motor M1 connected to the reducer 4D.

[0101] "X6" in the image region R1 in Figures 4 to 6 represents the command position [command unit: number of pulses] input to the control device 3, and "Y6" represents the motor output [deg] from the motor M1. Also, "X7" in the image region R1 and icon images R2 and R3 in Figures 4 to 6 represents the angle [deg] input to the driving wheel of the reduction gear 4D, and "Y7" represents the angle [deg] output from the driven wheel of the reduction gear 4D. Essentially, Y6 = X7.

[0102] 4, "X8" in the image region R1 and the icon image R3 indicates the angle [deg] input to the linear motion device 4A, and "Y8" indicates the amount of movement (displacement [mm]) output from the linear motion device 4A. Essentially, Y7 = X8.

[0103] 5, "X9" in the image region R1 and the icon image R3 indicates the angle [deg] input to the circular motion device 4B, and "Y9" indicates the amount of movement (displacement [mm]) output from the circular motion device 4B. Substantially, Y7 = X9.

[0104] The device detail setting screen G1 further includes an input area R11 for "Amplifier / Motor Electronic Gear Settings," an input area R12 for "Reduction Gear Settings," and an input area R13 for "Device Settings." As shown in FIG. 6, depending on the type of the selected drive device 4, the input area R12 for "Reduction Gear Settings" may not be displayed.

[0105] Furthermore, the device detail setting screen G1 includes an apply button R21 that accepts an instruction to apply (set) the information entered in the input areas R11 to R13, and a cancel button R22 that cancels the entered information. When the cancel button R22 is pressed, the device detail setting is canceled.

[0106] In short, when the adjustment support system 1 acquires type information specifying the type of drive unit 4 through the selection area R0 of the device details setting screen G1, it updates the display content of the device details setting screen G1 based on the type of drive unit 4 specified by the type information. At that time, the adjustment support system 1 determines the type of physical quantity related to the operation of the drive unit 4 based on the type of drive unit 4 specified by the type information, and updates the display content so as to present the unit of the determined type of physical quantity in the image area R1.

[0107] The determination processing unit 13 can determine the type of physical quantity to be one of displacement, angle, velocity, acceleration, angular velocity, angular acceleration, thrust, and torque. In other words, in the determination process in the adjustment assistance method, the type of physical quantity is determined to be one of displacement, angle, velocity, acceleration, angular velocity, angular acceleration, thrust, and torque. Here, as an example, it is assumed that the determination processing unit 13 determines the type of physical quantity to be one of displacement and angle.

[0108] The second acquisition unit 12 (parameter acquisition unit) acquires parameter information including a first value and a second value corresponding to two different coordinate positions (for example, two coordinate positions of a movable part (load) of the drive device 4) related to the command value, and a first output value and a second output value of the motor M1 corresponding to the first value and the second value, respectively. In other words, the adjustment support method includes a second acquisition process (parameter acquisition process), and the second acquisition process (parameter acquisition process) acquires the above-mentioned parameter information.

[0109] In this embodiment, the second acquisition unit 12 acquires parameter information through the input areas R11 to R13 of the above-described device detail setting screen G1.

[0110] In this embodiment, as an example, it is assumed that the first value and the second value are the maximum and minimum values ​​of the command value, respectively. Specifically, the input region R11 includes an input field R111 for accepting input of a "maximum (value) of command position" corresponding to a first value related to the command value, and an input field R112 for accepting input of a "minimum (value) of command position" corresponding to a second value related to the command value (see FIGS. 4 to 6 ). The input region R11 also includes an input field R113 for accepting input of a "maximum (value) of motor output" corresponding to a "first output value of motor M1," and an input field R114 for accepting input of a "minimum (value) of motor output" corresponding to a "second output value of motor M1."

[0111] The parameter information may include setting information regarding the reducer 4D and the device in addition to the first value (maximum value) and second value (minimum value) related to the command value and the first output value and second output value of the motor M1.

[0112] The input area R12 in Fig. 4 includes input fields R121, R122, R123, and R124 that accept input of "gear speed ratio," "product of the number of teeth of the driving wheel," "product of the number of teeth of the driven wheel," and "initial angle (of the reduction gear output)" as setting information for the reduction gear 4D, depending on the selection of the linear motion device 4A. Similarly, the input area R12 in Fig. 5 includes input fields R121, R122, R123, and R124, depending on the selection of the circular motion device 4B. The gear speed ratio may be automatically displayed from the input field R121 based on the input values ​​of the product of the number of teeth of the driving wheel and the product of the number of teeth of the driven wheel entered in the input fields R122 and R123.

[0113] The input area R13 in FIG. 4 includes input fields R131 and R132 for receiving input of "screw lead pitch" and "origin position" as setting information of the ball screw in accordance with the selection of the linear motion device 4A.

[0114] The input area R13 in FIG. 5 includes input fields R133 and R134 for receiving input of the "rotation diameter" and "origin position" as setting information for the belt pulley in accordance with the selection of the circular motion device 4B.

[0115] The input area R13 in Fig. 6 includes input fields R135, R136, R137, and R138 that accept input of the "gear speed ratio," "product of the number of teeth of the driving wheel," "product of the number of teeth of the driven wheel," and "initial angle (of the output of the reducer)" as setting information of the reducer 4D in accordance with the selection of the angular motion device 4C. The input area R13 in Fig. 6 is, for example, the same as the input area R12 in Figs. 4 and 5.

[0116] The physical quantity converter 14 has a conversion function for converting the command value into a unit of the type of physical quantity determined by the determination processor 13 based on the parameter information, and an inverse conversion function for converting the unit in the opposite direction. In other words, the adjustment support method includes a physical quantity conversion process, and the physical quantity conversion process includes the above-mentioned conversion process and inverse conversion process.

[0117] In this embodiment, the physical quantity converter 14 generates a conversion formula and an inverse conversion formula based on the parameter information.

[0118] [Conversion Formulas for Linear Motion Device] When the linear motion device 4A is selected, numerical values ​​are entered in the input fields of the input regions R11 to R13, and the Apply button R21 is pressed, the physical quantity conversion unit 14 generates the following equations (1) and (2) as conversion formulas and inverse conversion formulas for the linear motion device based on the parameter information. The numerical values ​​of the coefficients in equations (1) and (2) are examples derived based on the input example in FIG. 4. Y8 [mm] = 0.00008 × X6 [command unit] + 0 ... equation (1) X6 [command unit] = 12500 × Y8 [mm] + 0 ... equation (2) Here, a method for deriving equation (1) will be described.

[0119] First, regarding the input and output of the "amplifier / motor electronic gear," consider the following equation (3) as a linear function of X6 (input) and Y6 (output). Note that a6 and b6 are coefficients. Y6 = a6 × X6 + b6 (Equation (3)). The coefficients a6 and b6 can be calculated from the values ​​entered in the input field R11 using the following equations (4) and (5): a6 = (Y6H - Y6L) / (X6H - X6L) (Equation (4)) b6 = Y6H - ((Y6H - Y6L) / (X6H - X6L)) × X6H (Equation (5)). X6H is the "maximum command position" entered in the input field R111, which is 10,000 [command units] in the example input of FIG. 4. X6L is the "minimum command position" entered in the input field R112, which is 0 [command units] in the example input of FIG. 4. Y6H is the "maximum motor output" entered in input field R113, which is 360 [deg] in the example input of Fig. 4. Y6L is the "minimum motor output" entered in input field R114, which is 0 [deg] in the example input of Fig. 4.

[0120] Next, regarding the input and output of the "reduction gear," consider the following equation (6) as a linear function of X7 (input) and Y7 (output). Note that i and b7 are coefficients. Y7 = i × X7 + b7 (6). The coefficient i is the gear speed ratio, and is obtained from the values ​​of the "product of the number of teeth of the driving wheel" and the "product of the number of teeth of the driving wheel" entered in input fields R122 and R123. In the input example of FIG. 4, the coefficient i (gear speed ratio) = 5:50 (i.e., 5 / 50). That is, the coefficient i = nN / nA, where nN = the product of the number of teeth of the driving wheel, and nA = the product of the number of teeth of the driven wheel. The coefficient b7 is the value of the "(reduction gear output) initial angle (i.e., origin angle)" entered in input field R124, and in the input example of FIG. 4, it is 0 [deg].

[0121] As described above, since X7 = Y6 holds, equation (3) can be expressed as X7 = a6 × X6 + b6. Substituting this equation into equation (6) yields the following equation (7): Y7 = i × a6 × X6 + (i × b6 + b7) ...Equation (7) Next, regarding the input and output of the "linear motion device (here, ball screw)," consider the following equation (8) as a linear function of X8 (input) and Y8 (output): Y8 = (p / 360) × X8 + b8 ...Equation (8) The coefficient p is the "screw lead pitch" entered in input field R131, which is 8 mm in the example input of FIG. 4. The coefficient b8 is the "origin position (of the ball screw)" entered in input field R131, which is 0 mm in the example input of FIG. 4.

[0122] As described above, since X8 = Y7, equation (7) can be expressed as X8 = i×a6×X6 + (i×b6 + b7). Substituting this equation into equation (8) yields equation (9): Y8 = (p / 360)×i×a6×X6 + (p / 360)(i×b6 + b7) + b8...Equation (9). Equation (9) corresponds to a conversion equation from X6 (command position) of the "amplifier / motor / electronic gear" to Y8 (output) of the "linear motion device." Substituting p = 8, i = 5 / 50, a6 = 360 / 10000, b6 = 0, b7 = 0, and b8 = 0, obtained from the values ​​entered in the input fields R11 to R13 shown in FIG. 4, into equation (9), yields equation (1) above as the conversion equation for the linear motion device.

[0123] Furthermore, by transforming equation (9), the following equation (10) is obtained. X6=((360 / p) / (i×a6))Y8-(((i×b6+b7)+(360 / p)×b8) / (i×a6)) equation (10) In the input example of FIG. 4, by substituting p=8, i=5 / 50, a6=360 / 10000, b6=0, b7=0, and b8=0 into equation (10), the above equation (2) is obtained as the inverse transformation equation for the linear motion device. Note that equation (2) may be obtained by directly transforming equation (1), or equation (1) may be obtained by directly transforming equation (2).

[0124] Information regarding equations (9) and (10) may be stored in the storage unit 73 or may be directly coded into the program. The physical quantity conversion unit 14 may use equations (9) and (10) to generate equation (1), a conversion equation for the linear motion device, and equation (2), an inverse conversion equation, based on the parameter information. The generated equations (1) and (2) may be displayed on the device detail setting screen G1 and presented to the user. The generated equations (1) and (2) are stored in the storage unit 73 when the apply button R21 is pressed.

[0125] [Conversion Formulas for Circular Motion Device] When the circular motion device 4B is selected, numerical values ​​are entered in the input fields of the input regions R11 to R13, and the apply button R21 is pressed, the physical quantity conversion unit 14 generates the following equations (11) and (12) as conversion formulas and inverse conversion formulas for the circular motion device based on the parameter information. The numerical values ​​of the coefficients in equations (11) and (12) are examples derived based on the input example in FIG. 5. Y9 [mm] = 0.001571 × X6 [command unit] + 0 ... equation (11) X6 [command unit] = 636.6198 × Y9 [mm] + 0 ... equation (12) Here, a method for deriving equation (11) will be described.

[0126] However, the input and output of the "amplifier / motor electronic gear" and the input and output of the "reduction gear" related to the circular motion device 4B are the same as those in the case of the linear motion device 4A, so the above-mentioned equations (3) to (7) can be used when deriving equation (11), and therefore the explanation here will be omitted.

[0127] Regarding the input and output of the "circular motion device (here, a belt pulley)," consider the following equation (13) as a linear function of X9 (input) and Y9 (output): Y9 = (n × D / (2 × 360)) × X9 + b9 ... equation (13) "n" in equation (13) is the ratio of the circumference of a circle to its circumference (≈3.142). "D" in equation (13) is the "rotation diameter" entered in input field R133, which is 100 mm in the example input of FIG. 5. The coefficient b9 is the "origin position (of the belt pulley)" entered in input field R134, which is 0 mm in the example input of FIG. 5. The rotation diameter D corresponds to the pulley diameter in the case of a belt pulley (or belt conveyor), the effective diameter of the pinion (driving wheel) in the case of a pinion-rack, the wheel diameter of the carriage in the case of a traveling carriage, and the arm radius x 2 in the case of a rotating arm.

[0128] As described above, since X9 = Y7 holds, equation (7) can be expressed as X9 = i×a6×X6 + (i×b6 + b7), and by substituting this equation into equation (13), the following equation (14) is obtained: Y9 = ((n×D×i×a6) / (2×360))×X6 + (n×D(i×b6 + b7)) / (2×360)) + b9 Equation (14) Equation (14) corresponds to a conversion equation from X6 (command position) of the "amplifier / motor electronic gear" to Y9 (output) of the "circular motion device." By substituting D=100, i=5 / 50, a6=360 / 10000, b6=0, b7=0, and b9=0 obtained from the numerical values ​​entered in the input fields of input areas R11 to R13 shown in FIG. 5 into equation (14), the above equation (11) is obtained as the conversion equation for the circular motion device.

[0129] Furthermore, by transforming equation (14), the following equation (15) is obtained. X6 = ((2 x 360) / (n x D x i x a6)) x Y9 - (i x b6 + b7) / (i x a6) - (2 x 360 x b9) / (n x D x i x a6) ... equation (15) In the input example of FIG. 5, by substituting D = 100, i = 5 / 50, a6 = 360 / 10000, b6 = 0, b7 = 0, and b9 = 0 into equation (15), the above equation (12) is obtained as the inverse transformation equation for the circular motion device. Note that equation (12) may be obtained by directly transforming equation (11), or equation (12) may be directly transformed to obtain equation (11).

[0130] Information regarding equations (14) and (15) may be stored in the storage unit 73 or may be directly coded into the program. The physical quantity conversion unit 14 may use equations (14) and (15) to generate equation (11), a conversion equation for the circular motion device, and equation (12), an inverse conversion equation, based on the parameter information. The generated equations (11) and (12) may be displayed on the device detail setting screen G1 and presented to the user. The generated equations (11) and (12) are stored in the storage unit 73 when the apply button R21 is pressed.

[0131] [Conversion Formulas for Angular Motion Device] When the angular motion device 4C is selected, numerical values ​​are entered in the input fields R11 and R13, and the Apply button R21 is pressed, the physical quantity conversion unit 14 generates the following equations (16) and (17) as conversion formulas and inverse conversion formulas for the angular motion device based on the parameter information. The numerical values ​​of the coefficients in equations (16) and (17) are examples derived based on the input example in Figure 6. Y7 [deg] = 0.0036 × X6 [command unit] + 0 ... equation (16) X6 [command unit] = 277.7778 × Y7 [deg] + 0 ... equation (17) Here, a method for deriving equation (16) will be described.

[0132] However, the input and output of the "amplifier / motor / electronic gear" for the angular motion device 4C are the same as those for the linear motion device 4A and the circular motion device 4B. Also, the input and output of the "angular motion device (here, the reducer)" are the same as those of the "reducer" for the linear motion device 4A and the circular motion device 4B. Therefore, when deriving equation (16), the above-mentioned equations (3) to (7) can be used, and a description thereof will be omitted here.

[0133] In other words, regarding the input and output of the "angular motion device," consider the following equation (6)' (which is the same as equation (6) described above) as a linear function of X7 (input) and Y7 (output): Y7 = i × X7 + b7 ... equation (6)' The coefficient i is the gear speed ratio, and is obtained from the values ​​of the "product of the number of teeth of the driving wheel" and "product of the number of teeth of the driving wheel" entered in input fields R136 and R137. In the input example of FIG. 6, the coefficient i (gear speed ratio) = 5:50 (i.e., 5 / 50). That is, the coefficient i = nN / nA, where nN = the product of the number of teeth of the driving wheel and nA = the product of the number of teeth of the driven wheel. The coefficient b7 is the value of the "(reducer output) initial angle (i.e., origin angle)" entered in input field R138, and in the input example of FIG. 6, it is 0 [deg].

[0134] As described above, since X7 = Y6 holds, equation (3) can be expressed as X7 = a6 × X6 + b6. Substituting this equation into equation (6)' yields the following equation (7)' (which is the same as equation (7)): Y7 = i × a6 × X6 + (i × b6 + b7) ...equation (7)'. Equation (7)' corresponds to the conversion equation from X6 (command position) of the "amplifier / motor / electronic gear" to Y7 (output) of the "angular motion device." By substituting i = 5 / 50, a6 = 360 / 10000, b6 = 0, and b7 = 0, which are obtained from the values ​​entered in the input fields R11 and R13 shown in FIG. 6, into equation (7)', the above equation (16) is obtained as the conversion equation for the angular motion device.

[0135] Furthermore, by transforming equation (7)', the following equation (18) is obtained. X6=(1 / i×a6)×Y7-(b6 / a6+b7 / (i×a6))...equation (18) In the input example of FIG. 6, by substituting i=5 / 50, a6=360 / 10000, b6=0, and b7=0 into equation (18), the above equation (17) is obtained as the inverse transformation equation for the angular motion device. Note that equation (17) may be obtained by directly transforming equation (16), or equation (16) may be obtained by directly transforming equation (17).

[0136] Information regarding the above equations (7)' and (18) may be stored in the storage unit 73 or may be directly coded into the program. The physical quantity conversion unit 14 may use equations (7)' and (18) to generate equation (16), a conversion equation for the angular motion device, and equation (17), an inverse conversion equation, based on the parameter information. The generated equations (16) and (17) may be displayed on the device detail setting screen G1 and presented to the user. The generated equations (16) and (17) are stored in the storage unit 73 when the apply button R21 is pressed.

[0137] The adjustment information output unit 15 uses the conversion formula or inverse conversion formula generated by the physical quantity conversion unit 14 in this manner to output adjustment information related to the drive system 2. In other words, the adjustment information output unit 15 outputs adjustment information related to the drive system 2 to which conversion using the conversion function or inverse conversion using the inverse conversion function of the physical quantity conversion unit 14 has been applied. In other words, the adjustment support method includes an adjustment information output process, and the adjustment information output process outputs adjustment information related to the drive system 2 to which the above-mentioned conversion process or inverse conversion process has been applied.

[0138] The adjustment information here may be output to both a user interface such as the display unit 70 and the control device 3 .

[0139] For example, the communication terminal 7 (adjustment support system 1) may display a setting screen on the display unit 70 that accepts the setting of various parameters related to the test operation. Examples of the various parameters include the operating range of the movable part, gains (position loop gain, velocity loop gain), velocity acceleration / deceleration time constants, and offsets. Here, the communication terminal 7 displays a setting screen that accepts input, for example, for the operating range of the movable part, in units of displacement [mm] or angle [deg]. When a user inputs, for example, a displacement [mm] for the operating range, the physical quantity conversion unit 14 inversely converts the input displacement [mm] into a command position (e.g., number of pulses) using the generated inverse conversion formula. The adjustment support system 1 stores the command position obtained by the inverse conversion in the memory unit 73. The adjustment information output unit 15 may output adjustment information including the command position obtained by the inverse conversion to the control device 3 to instruct the control device 3 to execute the test operation. In this case, the adjustment information is output to the control device 3.

[0140] Furthermore, when the communication terminal 7 displays information such as a command position set for a test operation in response to a user request on the display unit 70 and presents it to the user, displaying it in command units such as the number of pulses may make it difficult for the user to intuitively understand. Therefore, the physical quantity conversion unit 14 uses the generated conversion formula to convert the command position (command unit) to be presented into units such as displacement [mm] or angle [deg]. The adjustment information output unit 15 can output (display) adjustment information including the displacement [mm] (or angle [deg], etc.) obtained by the conversion from the display unit 70. In this case, the adjustment information is output to the display unit 70.

[0141] As described above, the adjustment support system 1 of the present embodiment outputs adjustment information to which the conversion process or inverse conversion process of the physical quantity converter 14 has been applied, making it easier for the user to make adjustments in units of physical quantities (displacement, angle, etc.) that can change depending on the operation of the motor M1. As a result, there is an advantage in that it is possible to improve the convenience for the user who makes adjustments related to the drive system 2.

[0142] As described above, the adjustment support system 1 further includes the sensor information acquisition unit 16, the measurement value conversion unit 17, and the specific information output unit 18, and the functions of these units will be described with reference to FIGS.

[0143] Fig. 7 is a conceptual diagram of a sensor detail setting screen G2 to which measurement value conversion processing is applied in the adjustment support system 1 according to the embodiment. The adjustment support system 1 has a function of displaying the sensor detail setting screen G2 shown in Fig. 7 on the display unit 70. The sensor detail setting screen G2 can be displayed, for example, as a window screen, when a user uses the operation unit 72 to start dedicated application software on the communication terminal 7 and performs an operation input for performing sensor detail setting.

[0144] [Sensor Detail Setting Screen] Hereinafter, the sensor detail setting screen G2 will be described, and the functions of the sensor information acquisition unit 16, the measurement value conversion unit 17, and the specific information output unit 18 will also be described.

[0145] As an example, it is assumed that the external sensor 8 to be set is a laser displacement meter 81. The laser displacement meter 81 detects the amount of movement (displacement) of a movable part in the drive device 4. However, as described above, the laser displacement meter 81 actually outputs the sensing result to the control device 3 as an analog output value (for example, a voltage value or a current value). The AD conversion unit 32 of the control device 3 converts the output value into a quantization unit value [LSB] (conversion value) to obtain a digital value. That is, here, it is assumed that the "conversion value" is a value of the quantization unit [LSB], which is the conversion unit of the AD conversion unit 32, but it may also be a digital value.

[0146] The sensor information acquisition unit 16 acquires sensor information including first and second measurement values ​​relating to the range of measurement values ​​measured by the external sensor 8 (here, the laser displacement meter 81), and first and second analog output values ​​output as analog output values. The first and second analog output values ​​correspond to the first and second measurement values, respectively. In other words, the adjustment assistance method includes a sensor information acquisition process, and the sensor information acquisition process acquires the above-mentioned sensor information.

[0147] The sensor detail setting screen G2 includes an input area R31, and the sensor information acquisition unit 16 acquires sensor information through the input area R31.

[0148] In this embodiment, as an example, it is assumed that the first measurement value is the maximum measurement value in the range of measurement values, and the second measurement value is the minimum measurement value in the range of measurement values. It is also assumed that the first analog output value corresponding to the first measurement value (maximum measurement value) is the maximum output value output as an analog output value, and the second analog output value corresponding to the second measurement value (minimum measurement value) is the minimum output value output as an analog output value. Specifically, as shown in FIG. 7 , the input region R31 includes an input field R311 for accepting input of the maximum measurement value [mm] in the range of measurement values ​​(displacement) measured by the laser displacement meter 81, and an input field R312 for accepting input of the minimum measurement value [mm] in the range. The input region R31 also includes an input field R313 for accepting input of the analog output voltage (value) [V] corresponding to the “maximum output value” of the laser displacement meter 81, and an input field R314 for accepting input of the analog output voltage (value) [V] corresponding to the “minimum output value” of the laser displacement meter 81.

[0149] For example, the user may determine the above-mentioned "measurement value range" as appropriate according to the specifications of the external sensor 8 and the operating range (movement range) to be performed in the test operation, and input the maximum and minimum measurement values ​​into input fields R313 and R314. The user may also determine the maximum and minimum output values ​​corresponding to the maximum and minimum measurement values, respectively, and input these determined values ​​into input fields R313 and R314. An example of the relationship between the upper and lower limit voltage values ​​for each range of the measurement value of the laser displacement meter 81 is shown in Table 1 below.

[0150]

[0151] The sensor information acquisition unit 16 acquires amplifier conversion information in addition to the sensor information. In the present embodiment, the sensor detail setting screen G2 further includes an input area R32, and the sensor information acquisition unit 16 acquires the amplifier conversion information through the input area R32.

[0152] Specifically, as shown in FIG. 7 , the input area R32 includes an input field R321 that accepts input of a maximum voltage value to be input to the control device 3 (the AD conversion unit 32 thereof), and an input field R322 that accepts input of a minimum voltage value to be input to the control device 3. The maximum voltage value and the minimum voltage value may be maximum current values ​​and minimum current values. The input area R32 also includes an input field R323 that accepts input of an analog output [LSB] output from the control device 3 for the maximum voltage value, and an input field R324 that accepts input of an analog output [LSB] output from the control device 3 for the minimum voltage value. The user determines the values ​​to be input into the input fields R321 to R324 based on, for example, the specifications of the control device 3.

[0153] To facilitate user understanding, the sensor detail setting screen G2 also includes an image area R41 that schematically shows a series of input / output flows from the laser displacement meter 81 to the control device 3. Fig. 8 is a conceptual diagram of another example of the sensor detail setting screen G3 to which the measurement value conversion process in the adjustment support system 1 according to the embodiment is applied. In Fig. 8, the control device 3 is represented as an amplifier, and the converted value output from the control device 3 is represented as an analog output.

[0154] The left edge of the image region R41 shows "X1", which is the displacement [mm] (i.e., the amount of movement) measured by the laser displacement meter 81. Depending on the type of external sensor 8, the left edge may show an angle [deg] instead of the displacement [mm]. The right edge of the image region R41 shows "Y2", which is the conversion value [LSB] output from the control device 3. With respect to the output "Y1" from the external sensor 8 and the input "X2" to the amplifier, Y1 = X2 substantially holds.

[0155] The measurement value converter 17 has a conversion function that converts an analog output value or converted value into a unit of the measurement value based on sensor information, and an inverse conversion function that performs the reverse unit conversion. In other words, the adjustment support method includes a measurement value conversion process, which includes a conversion process that converts an analog output value or converted value into a unit of the measurement value based on sensor information, and an inverse conversion process that performs the reverse unit conversion. As an example, the following describes a conversion process that converts a converted value [LSB] into a unit of the measurement value, and an inverse conversion process that performs the reverse unit conversion.

[0156] The sensor detail setting screen G2 also includes an apply button R51 that accepts an instruction to apply (set) the information entered in the input areas R31 and R32, and a cancel button R52 that cancels the entered information. When the cancel button R52 is pressed, the sensor detail setting is canceled.

[0157] As an example, the measurement value conversion unit 17 generates the following equations (19) and (20) as conversion and inverse conversion equations based on the amplifier conversion information in addition to the sensor information. The numerical values ​​of the coefficients in equations (19) and (20) are an example derived based on the input example in FIG. 7. Y2 [LSB] = 13333 × X1 [mm] + 13333 ... equation (19) X1 [mm] = 7.50019E-05 × Y2 [LSB] - 1 ... equation (20) Here, a method for deriving equation (19) will be described.

[0158] First, regarding the input and output of the "external sensor," consider the following equation (21) as a linear function of X1 (input: displacement) and Y1 (output: voltage). Note that a1 and b1 are coefficients. Y1 = a1 × X1 + b1 (Equation (21)). The coefficients a1 and b1 can be calculated from the values ​​entered in the input field R31 using the following equations (22) and (23): a1 = (Y1H - Y1L) / (X1H - X1L) (Equation (22)). b1 = Y1H - ((Y1H - Y1L) / (X1H - X1L)) × X1H (Equation (23)). X1H is the maximum measurement value entered in the input field R311, which is 1 mm in the example input of FIG. 7. X1L is the minimum measurement value entered in the input field R312, which is -1 mm in the example input of FIG. 7. Y1H is the maximum output value entered in input field R313, which is 10 [V] in the example input of Fig. 7. Y1L is the minimum output value entered in input field R314, which is 0 [V] in the example input of Fig. 7.

[0159] Next, regarding the input and output of the "controller 3 (amplifier)," consider the following equation (24) as a linear function of X2 (input: voltage) and Y2 (output: LSB). Note that a2 and b2 are coefficients. Y2 = a2 × X2 + b2 (Equation (24)) The coefficients a2 and b2 can be calculated from the values ​​entered in the input field R32 using the following equations (25) and (26): a2 = (Y2H - Y2L) / (X2H - X2L) (Equation (25)) b2 = Y2H - ((Y2H - Y2L) / (X2H - X2L)) × X2H (Equation (26)) X2H is the maximum voltage value entered in the input field R321, which is 10 V in the example input of FIG. 7. X2L is the minimum voltage value entered in the input field R322, which is -10 V in the example input of FIG. 7. Y2H is the analog output value entered in input field R323, which is 26666 [LSB] in the example input of Fig. 7. Y2L is the analog output value entered in input field R324, which is -26666 [LSB] in the example input of Fig. 7.

[0160] As described above, since X2 = Y1 holds, equation (21) can be expressed as X2 = a1 × X1 + b1, and by substituting this equation into equation (24), the following equation (27) is obtained: Y2 = a1 × a2 × X1 + b1 × a2 + b2 ... equation (27) Equation (27) corresponds to a conversion equation from X1 (displacement) of the laser displacement meter 81 to Y2 (output) of the control device 3 (amplifier). By substituting a1 = 5, b1 = 5, a2 = 2666.6, and b2 = 0 obtained from the numerical values ​​entered in the input fields R31 and R32 shown in FIG. 7 into equation (27), the above equation (19) is obtained as the conversion equation for the laser displacement meter 81.

[0161] Furthermore, by transforming equation (27), the following equation (28) is obtained. X1=Y2 / (a1×a2)-(b1×a2+b2) / (a1×a2) equation (28) In the input example of FIG. 7, by substituting a1=5, b1=5, a2=2666.6, and b2=0 into equation (28), the above equation (20) is obtained as the inverse conversion equation for the laser displacement meter 81. Note that equation (20) may be obtained by directly transforming equation (19), or equation (19) may be obtained by directly transforming equation (20).

[0162] Information regarding equations (27) and (28) may be stored in the storage unit 73 or may be directly coded into the program. The measurement value conversion unit 17 can use equations (27) and (28) to generate a conversion equation (19) and an inverse conversion equation (20) for the laser displacement meter 81 based on the sensor information. The generated equations (19) and (20) may be displayed on the sensor detail setting screen G2 and presented to the user. The generated equations (19) and (20) are stored in the storage unit 73 when the apply button R51 is pressed.

[0163] Note that Figure 7 shows an example of a sensor detail setting screen G2 for the laser displacement meter 81, while Figure 8 shows an example of a sensor detail setting screen G3 for an external sensor 8 other than the laser displacement meter 81 (for example, a speed sensor that detects the moving speed of the movable part of the drive device 4).

[0164] The sensor detail setting screen G3 shown in Fig. 8 includes input areas R61 and R62 similar to the input areas R31 and R32 of the sensor detail setting screen G2, respectively. However, while the unit of the measurement value in the input area R31 in Fig. 7 is displacement [mm], the unit of the measurement value in the input area R61 in Fig. 8 is (movement) speed [mms －１ ]. The input area R61 includes an input field R611 that accepts input of the "maximum measurement value" of the range of the moving speed measured by the speed sensor, and an input field R612 that accepts input of the "minimum measurement value" of that range. The input area R61 also includes an input field R613 that accepts input of the analog output voltage (value) corresponding to the "maximum output value" of the speed sensor, and an input field R614 that accepts input of the analog output voltage (value) corresponding to the "minimum output value." The input area R62 (input fields R621 to R624) has roughly the same functions as the input area R32 (input fields R321 to R324), and therefore description thereof will be omitted.

[0165] To facilitate user understanding, the sensor detail setting screen G3 further includes an image area R71, similar to the image area R41 of the sensor detail setting screen G2. The image area R71 schematically shows a series of input / output flows from the external sensor 8 to the control device 3. In FIG. 8, the control device 3 is represented as an amplifier, and the converted value is represented as an analog output. As shown in an example on the left edge of the image area R71, the measured values ​​of the external sensor 8 are not limited to displacement [mm] and angle [deg], but may also include velocity [mms]. －１ ] (or angular velocity), acceleration [mms －２ ] (or angular acceleration), force (thrust) [N], torque [N m], etc. The apply button R81 and cancel button R82 on the sensor detail setting screen G3 have substantially the same functions as the apply button R51 and cancel button R52 on the sensor detail setting screen G2, and therefore a description thereof will be omitted.

[0166] The specific information output unit 18 uses the conversion formula or inverse conversion formula generated by the measurement value conversion unit 17 in this manner to output specific information about the drive system 2. In other words, the specific information output unit 18 outputs specific information about the drive system 2 to which conversion using the conversion function or inverse conversion using the inverse conversion function of the measurement value conversion unit 17 has been applied. In other words, the adjustment support method includes a specific information output process, and the specific information output process outputs the above-mentioned specific information.

[0167] The specific information is expected to be output to a user interface such as the display unit 70. However, the specific information may also be output to the control device 3 (servo amplifier A1).

[0168] For example, the sensing results (analog voltage signals) of the external sensor 8, such as the laser displacement meter 81, obtained during the test operation are converted into quantization unit values ​​[LSB] (converted values) by the AD converter 32 of the control device 3, and the communication terminal 7 receives the converted values ​​from the control device 3. When the communication terminal 7 displays information such as the sensing results obtained during the test operation on the display unit 70 in response to a user request, displaying the converted values ​​as they are may make it difficult for the user to intuitively understand them. Therefore, the measurement value converter 17 uses the generated inverse conversion formula (e.g., the above formula (20)) to inversely convert the converted values ​​into measured values ​​(e.g., displacement [mm]). The specific information output unit 18 can output (display) specific information including the inversely converted measured values ​​from the display unit 70.

[0169] The specific information displayed on the display unit 70 may be graphed, for example (see FIG. 10 ). For example, the specific information output unit 18 executes a graph display process to generate a graph relating to the specific information converted into units of measurement values ​​(e.g., displacement) and display the graph on the display unit 70. In other words, the specific information output process of the adjustment support method includes a graph display process to generate a graph relating to the specific information obtained by converting an analog output value or converted value into units of measurement values ​​(e.g., displacement) in the measurement value conversion process and display the graph on the display unit 70. FIG. 10 is a graph showing data after conversion by the measurement value conversion process in the adjustment support system 1 according to the embodiment. FIG. 10 shows the sensing results of the laser displacement meter 81 during a test operation, for example, to evaluate settling time. The horizontal axis represents time, and the vertical axis represents the amount of movement (displacement) [mm]. That is, FIG. 10 shows the change in the amount of movement (displacement) [mm] over time, rather than the change in the converted value [LSB] or the analog output value [V] (described later). FIG. 10 shows that the amount of movement (displacement) is attenuated with the passage of time, and the vibration of the movable part of the drive unit 4 is reduced.

[0170] In this way, specific information to which the conversion process or inverse conversion process of the measurement value conversion process has been applied is output, making it easier for the user to make adjustments in units of the measurement values ​​measured by the external sensor 8. As a result, convenience for the user when making adjustments related to the drive system 2 can be improved.

[0171] In particular, as shown in Figure 10, a waveform graph of the specific information converted into units of the measurement value measured by the external sensor 8 (for example, units of actual displacement (amount of movement)) is displayed, making it easier for the user to intuitively understand the specific information.

[0172] The user evaluates the settling time for the drive system 2 by checking a graph such as that shown in Fig. 10. In Fig. 10, "P1" indicates the target position, "W1" indicates the settling width [mm], and "T1" indicates the settling time. The user can repeatedly perform test operations while adjusting various parameters using the communication terminal 7 (adjustment support system 1) so as to shorten the settling time T1 in Fig. 10, for example.

[0173] The adjustment support system 1 in this embodiment has a function of acquiring a settling width W1 in response to a user's operation input, a function of performing unit conversion on the acquired settling width W1, and a function of setting the settling width W1 after unit conversion as an evaluation index for the drive device 4. Specifically, the adjustment support method further includes a settling width acquisition process, a settling width conversion process, and an index setting process. The settling width acquisition process acquires the settling width W1, which indicates a performance index related to the stopping accuracy of the moving part of the motor M1 or the drive device 4. The settling width conversion process converts the settling width W1 acquired in the settling width acquisition process into units of an analog output value or converted value. The index setting process sets the settling width W1 after unit conversion in the settling width conversion process as an evaluation index for the drive device 4. In other words, the adjustment support system 1 further includes a settling width acquisition unit 19 that executes the settling width acquisition process, a settling width conversion unit 20 that executes the settling width conversion process, and an index setting unit 21 that executes the index setting process (see FIG. 3B ).

[0174] FIG. 9 is a conceptual diagram of yet another example of a sensor detail setting screen G4 to which the measurement value conversion process in the adjustment support system 1 according to the embodiment is applied. FIG. 9 shows the sensor detail setting screen G4 as another example of the sensor detail setting screen G2. The sensor detail setting screen G4 includes input fields B1, B2, B3, B4, and B5, a display field B6, an apply button B11, and a cancel button B12. The input fields B1 to B4 have roughly the same functions as the input fields R311 to R314 of the sensor detail setting screen G2, and therefore a description thereof will be omitted. Note that the input examples (numerical values) of the input fields B1 to B4 in FIG. 9 are the same as the input examples of the input fields R311 to R314 in FIG. 7.

[0175] The sensor detail setting screen G4 does not include an input field for amplifier conversion information (input area R32 of the sensor detail setting screen G2), but it is assumed here that the amplifier conversion information has already been set on another setting screen.

[0176] The Apply button B11 accepts an instruction to apply (set) the information entered in the input fields B1 to B5 and the information displayed in the display field B6. The Cancel button B12 accepts an instruction to cancel the entered information. When the Cancel button B12 is pressed, the sensor detail setting is canceled.

[0177] Here, the input field B5 accepts input of the settling width W1 described above. In the example of Fig. 9, the settling width W1 in the input field B5 is in units of [µm]. The settling width acquisition unit 19 acquires the value input by the user in the input field B5 as the settling width W1.

[0178] When the user inputs a numerical value into the input field B5, the settling width W1, which is automatically converted into the unit of the analog output value [V], is displayed in the display field B6. In the example of Fig. 9, when the user inputs "50" into the input field B5, the value "100" in the unit of the analog output value [V] after conversion is automatically displayed. In other words, in the example of Fig. 9, the settling width conversion unit 20 converts the settling width W1 acquired through the input field B5 into the unit of the analog output value (voltage unit in this case).

[0179] Here, the settling width conversion unit 20 generates a conversion formula and an inverse conversion formula based on the sensor information entered in the input fields B1 to B4 and the (pre-set) amplifier conversion information. Although a detailed description will be omitted, the conversion formula and the inverse conversion formula for the analog output value [V] can also be easily generated by deriving formulas similar to the above-mentioned formulas 27 and 28, as in the conversion formula and the inverse conversion formula for the converted value [LSB]. In the example of FIG. 9 , the settling width conversion unit 20 converts 50 μm to 100 V and displays it using the generated conversion formula (from displacement, i.e., settling width, to analog output value). The measurement value conversion unit 17 may also have the function of the settling width conversion unit 20.

[0180] When the user presses the Apply button B11 while "100" is displayed in the display field B6, the index setting unit 21 sets the converted settling width W1, 100 [V], as the evaluation index and stores it in the memory unit 73.

[0181] When displaying the graph shown in Figure 10 on the display unit 70, the settling width conversion unit 20 uses an inverse conversion formula to convert 100 [V], which is set as the evaluation index, to 50 [μm], and the specific information output unit 18 displays the graph with the settling width W1 set to 50 [μm].

[0182] In other words, as shown in Figures 7 and 8, unit conversion may be performed from the conversion value [LSB] to the unit of the measurement value, and then the reverse unit conversion may be performed, or as shown in Figure 9, unit conversion may be performed from the analog output value [V] to the unit of the measurement value, and then the reverse unit conversion may be performed.

[0183] The provision of the functions of the settling range acquisition unit 19, the settling range conversion unit 20, and the index setting unit 21 makes it easier for the user to evaluate the settling time T1 in units of actual displacement, thereby improving the convenience for the user when adjusting the drive system 2.

[0184] (6) Modifications Modifications of the above embodiment are listed below. The modifications described below can be applied in appropriate combinations.

[0185] The same functions as those of the adjustment support system 1 according to the above embodiment may be embodied in an adjustment support method, a computer program, or a non-transitory recording medium on which a computer program is recorded.

[0186] The adjustment support system 1 in the present disclosure includes a computer system. The computer system is primarily composed of a processor and memory as hardware. The processor executes a program stored in the memory of the computer system to realize the functions of the adjustment support system 1 in the present disclosure. The program may be pre-recorded in the memory of the computer system, provided via a telecommunications line, or provided in a non-transitory recording medium readable by the computer system, such as a memory card, optical disk, or hard disk drive. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits, such as ICs or LSIs, are referred to by different names depending on the degree of integration, and include integrated circuits called system LSIs, very large-scale integrations (VLSIs), or ultra-large-scale integrations (ULSIs). Furthermore, field-programmable gate arrays (FPGAs), which are programmed after the LSI is manufactured, or logic devices capable of reconfiguring the connections within the LSI or the circuit partitions within the LSI, can also be used as processors. The electronic circuits may be integrated into one chip or distributed across multiple chips. The chips may be integrated into one device or distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

[0187] Furthermore, it is not essential that the multiple functions of the adjustment support system 1 are concentrated in one housing. For example, the components of the adjustment support system 1 may be distributed across multiple housings.

[0188] Conversely, multiple functions of the adjustment support system 1 may be integrated into one housing. Furthermore, at least some of the functions of the adjustment support system 1, for example, some of the functions of the adjustment support system 1, may be realized by the cloud (cloud computing) or the like.

[0189] In the above embodiment, the unit of displacement is [mm] and the unit of settling width is [μm], but this is not limited thereto, and the unit of displacement may be, for example, [m], [cm], or [μm], and the unit of settling width may be, for example, [m], [mm], or [cm].

[0190] (Summary) The above-described embodiments and the like disclose the following aspects.

[0191] An adjustment assistance method according to a first aspect is an adjustment assistance method for assisting adjustment of a drive system (2). The drive system (2) includes a motor (M1), a drive device (4), a sensor (5), and a control device (3). The drive device (4) is driven by the power of the motor (M1). The sensor (5) performs sensing of the motor (M1) or the drive device (4). The control device (3) determines a control value for the motor (M1) based on a command value and the sensing result of the sensor (5), and controls the motor (M1) so that the drive device (4) performs a predetermined operation. The adjustment assistance method includes a determination process, a parameter acquisition process, a physical quantity conversion process, and an adjustment information output process. The determination process determines the type of physical quantity that can change depending on the operation of the motor (M1). The parameter acquisition process acquires parameter information including a first value and a second value corresponding to two coordinate positions that are different from each other with respect to the command value, and a first output value and a second output value of the motor (M1) corresponding to the first value and the second value, respectively. The physical quantity conversion process includes a conversion process for converting the command value into a unit of the type of physical quantity determined in the determination process based on parameter information, and an inverse conversion process for converting the unit inversely. The adjustment information output process outputs adjustment information related to the drive system (2) to which the conversion process or inverse conversion process of the physical quantity conversion process has been applied.

[0192] According to the above aspect, adjustment information to which the conversion process or the inverse conversion process of the physical quantity conversion process has been applied is output, making it easier for the user to make adjustments in units of physical quantities that can change depending on the operation of the motor (M1), thereby improving the convenience for the user when making adjustments related to the drive system (2).

[0193] Regarding the adjustment support method according to the second aspect, in the first aspect, the first value and the second value are the maximum value and the minimum value of the command value, respectively.

[0194] According to the above aspect, the convenience for the user who adjusts the drive system (2) is further improved.

[0195] The adjustment assistance method according to the third aspect is the same as that of the first or second aspect, and further includes a type acquisition process for acquiring type information that specifies the type of the drive device 4. In the determination process, the type of the physical quantity is determined based on the type of the drive device 4 specified in the type information.

[0196] According to the above aspect, the convenience for the user who adjusts the drive system (2) is further improved.

[0197] Regarding the adjustment assistance method according to the fourth aspect, in the third aspect, the drive device (4) includes any one of a linear motion device (4A), a circular motion device (4B), and an angular motion device (4C).

[0198] According to the above aspect, when the drive device (4) is any of a linear motion device (4A), a circular motion device (4B), and an angular motion device (4C), it is possible to improve the convenience of the user who adjusts the drive system (2).

[0199] Regarding the adjustment support method according to the fifth aspect, in the fourth aspect, when the type of the drive device (4) specified by the type information is a linear motion device (4A) or a circular motion device (4B), the determination process determines the type of physical quantity to be displacement.

[0200] According to the above aspect, when the drive device (4) is a linear motion device (4A) or a circular motion device (4B), the user can easily make adjustments in units of displacement.

[0201] Regarding the adjustment assistance method according to the sixth aspect, in the fourth or fifth aspect, if the type of the drive device (4) specified by the type information is an angular motion device (4C), the determination process determines the type of physical quantity to be an angle.

[0202] According to the above aspect, when the driving device (4) is an angular motion device (4C), the user can easily make adjustments in units of angles.

[0203] Regarding the adjustment assistance method according to the seventh aspect, in any one of the first to sixth aspects, the determination process determines the type of physical quantity to be one of displacement, angle, velocity, acceleration, angular velocity, angular acceleration, thrust, and torque.

[0204] According to the above aspect, the user can easily make adjustments in units of any of displacement, angle, velocity, acceleration, angular velocity, angular acceleration, thrust, and torque.

[0205] Regarding the adjustment support method according to the eighth aspect, in any one of the first to seventh aspects, the control device (3) has a function of performing AD conversion on an analog output value, which is a sensing result of an external sensor (8) that performs sensing on the motor (M1) or the drive device (4) separately from the sensor (5), to acquire a converted value. The adjustment support method further includes a sensor information acquisition process, a measurement value conversion process, and a specific information output process. The sensor information acquisition process acquires sensor information including a first measurement value, a second measurement value, and a first analog output value and a second analog output value that are output as analog output values. The first measurement value and the second measurement value are values ​​related to the range of measurement values ​​measured by the external sensor (8). The first analog output value and the second analog output value correspond to the first measurement value and the second measurement value, respectively. The measurement value conversion process includes a conversion process that converts the analog output value or converted value into a unit of the measurement value based on the sensor information, and an inverse conversion process that performs the reverse unit conversion. In the specific information output process, specific information relating to the drive system (2) to which the conversion process or the inverse conversion process of the measurement value conversion process has been applied is output.

[0206] According to the above aspect, specific information to which the conversion process or the inverse conversion process of the measurement value conversion process has been applied is output, making it easier for the user to make adjustments in units of the measurement values ​​measured by the external sensor 8. As a result, the convenience of the user making adjustments related to the drive system 2 can be improved.

[0207] The adjustment support method according to a ninth aspect is the same as the eighth aspect, and further includes a settling width acquisition process, a settling width conversion process, and an index setting process. The settling width acquisition process acquires a settling width (W1) indicating a performance index related to the stopping accuracy of a moving part of the motor (M1) or the drive device (4). The settling width conversion process converts the settling width (W1) acquired in the settling width acquisition process into units of an analog output value or converted value. The index setting process sets the settling width (W1) after unit conversion in the settling width conversion process as an evaluation index for the drive device (4).

[0208] According to the above aspect, it becomes easier for the user to evaluate the settling time, which results in improved convenience for the user when adjusting the drive system (2).

[0209] Regarding the adjustment support method according to the tenth aspect, in the eighth or ninth aspect, the specific information output process includes a graph display process that generates a graph relating to the specific information obtained by converting the analog output value or conversion value into the unit of the measurement value in the measurement value conversion process, and displays the graph on the display unit (70).

[0210] According to the above aspect, a graph of the specific information converted into the unit of the measurement value measured by the external sensor (8) is displayed, which makes it easier for the user to intuitively understand the specific information.

[0211] Regarding the adjustment assistance method according to the eleventh aspect, in any one of the eighth to tenth aspects, the first measurement value and the second measurement value are a maximum measurement value and a minimum measurement value, respectively, in the range. The first analog output value and the second analog output value are a maximum output value and a minimum output value, respectively.

[0212] According to the above aspect, the convenience for the user who adjusts the drive system (2) is further improved.

[0213] An adjustment assistance method according to a twelfth aspect is an adjustment assistance method for assisting adjustment of a drive system (2). The drive system (2) includes a motor (M1), a drive device (4), a sensor (5), and a control device (3). The drive device (4) is driven by the power of the motor (M1). The sensor (5) performs sensing of the motor (M1) or the drive device (4). The control device (3) determines a control value for the motor (M1) based on a command value and the sensing result of the sensor (5), and controls the motor (M1) so that the drive device (4) performs a predetermined operation. The control device (3) has a function of performing AD conversion on an analog output value, which is the sensing result of an external sensor (8) that senses the motor (M1) or the drive device (4) separately from the sensor (5), to obtain a converted value. The adjustment assistance method includes a sensor information acquisition process, a measurement value conversion process, and a specific information output process. The sensor information acquisition process acquires sensor information including first and second measurement values ​​and first and second analog output values ​​output as analog output values. The first and second measurement values ​​are values ​​related to the range of measurement values ​​measured by the external sensor (8). The first and second analog output values ​​correspond to the first and second measurement values, respectively. The measurement value conversion process includes a conversion process that converts the analog output value or converted value into a unit of the measurement value based on the sensor information, and an inverse conversion process that converts the unit inversely. The specific information output process outputs specific information related to the drive system (2) to which the conversion process or inverse conversion process of the measurement value conversion process has been applied.

[0214] According to the above aspect, specific information to which the conversion process or the inverse conversion process of the measurement value conversion process has been applied is output, making it easier for the user to make adjustments in units of the measurement values ​​measured by the external sensor 8. As a result, the convenience of the user making adjustments related to the drive system 2 can be improved.

[0215] A program according to a thirteenth aspect is a program for causing one or more processors to execute the adjustment support method according to any one of the first to twelfth aspects.

[0216] According to the above aspect, it is possible to realize a function that improves the convenience of the user who adjusts the drive system (2).

[0217] An adjustment support system (1) according to a fourteenth aspect supports adjustment of a drive system (2). The drive system (2) includes a motor (M1), a drive device (4), a sensor (5), and a control device (3). The drive device (4) is driven by the power of the motor (M1). The sensor (5) performs sensing of the motor (M1) or the drive device (4). The control device (3) determines a control value for the motor (M1) based on a command value and the sensing result of the sensor (5), and controls the motor (M1) so that the drive device (4) performs a predetermined operation. The adjustment support system (1) includes a determination processing unit (13), a parameter acquisition unit (second acquisition unit 12), a physical quantity conversion unit (14), and an adjustment information output unit (15). The determination processing unit (13) determines the type of physical quantity that can change depending on the operation of the motor (M1). The parameter acquisition unit (second acquisition unit 12) acquires parameter information including a first value and a second value corresponding to two different coordinate positions with respect to the command value, and a first output value and a second output value of the motor (M1) corresponding to the first value and the second value, respectively. The physical quantity conversion unit (14) has a conversion function for converting the command value into a unit of the type of physical quantity determined by the determination processing unit (13) based on the parameter information, and an inverse conversion function for converting the unit inversely. The adjustment information output unit (15) outputs adjustment information related to the drive system (2) to which the conversion by the conversion function of the physical quantity conversion unit (14) or the inverse conversion by the inverse conversion function has been applied.

[0218] According to the above aspect, it is possible to provide an adjustment support system (1) that can improve the convenience of a user who makes adjustments related to a drive system (2).

[0219] An adjustment support system (1) according to a fifteenth aspect supports adjustment of a drive system (2). The drive system (2) includes a motor (M1), a drive device (4), a sensor (5), and a control device (3). The drive device (4) is driven by the power of the motor (M1). The sensor (5) performs sensing of the motor (M1) or the drive device (4). The control device (3) determines a control value for the motor (M1) based on a command value and the sensing result of the sensor (5), and controls the motor (M1) so that the drive device (4) performs a predetermined operation. The control device (3) has a function of performing AD conversion on analog output values, which are sensing results of an external sensor (8) that senses the motor (M1) or the drive device (4) separately from the sensor (5), to obtain converted values. The adjustment support system (1) includes a sensor information acquisition unit (16), a measurement value conversion unit (17), and a specific information output unit (18). The sensor information acquisition unit (16) acquires sensor information including first and second measurement values, and first and second analog output values ​​output as analog output values. The first and second measurement values ​​are values ​​related to the range of measurement values ​​measured by the external sensor (8). The first and second analog output values ​​correspond to the first and second measurement values, respectively. The measurement value conversion unit (17) has a conversion function that performs unit conversion from the analog output value or converted value to the unit of the measurement value based on the sensor information, and an inverse conversion function that performs unit conversion in the reverse direction. The specific information output unit (18) outputs specific information related to the drive system (2) to which conversion by the conversion function or inverse conversion by the inverse conversion function of the measurement value conversion unit (17) has been applied.

[0220] According to the above aspect, it is possible to provide an adjustment support system (1) that can improve the convenience of a user who makes adjustments related to a drive system (2).

[0221] The configurations according to the second to eleventh aspects are not essential for the adjustment support method according to the first aspect, and may be omitted as appropriate.

[0222] The adjustment support method, program, and adjustment support system of the present disclosure have the advantage of improving convenience for users who make adjustments to the drive system. Thus, the adjustment support method, program, and adjustment support system of the present disclosure are industrially useful.

[0223] REFERENCE SIGNS LIST 1 Adjustment support system 11 First acquisition unit (type acquisition unit) 12 Second acquisition unit (parameter acquisition unit) 13 Decision processing unit 14 Physical quantity conversion unit 15 Adjustment information output unit 16 Sensor information acquisition unit 17 Measurement value conversion unit 18 Specific information output unit 2 Drive system 3 Control device 4 Drive device 4A Linear motion device 4B Circular motion device 4C Angular motion device 5 Sensor 70 Display unit 8 External sensor M1 Motor W1 Settling width

Claims

1. An adjustment support method for supporting adjustment of a drive system including a motor, a drive device driven by the power of the motor, a sensor that performs sensing on the motor or the drive device, and a control device that determines a control value for the motor based on a command value and the sensing results of the sensor, and controls the motor so that the drive device performs a predetermined operation, the adjustment support method including: a determination process for determining a type of physical quantity that can change depending on the operation of the motor; a parameter acquisition process for acquiring parameter information including a first value and a second value corresponding to two coordinate positions that are different from each other with respect to the command value, and a first output value and a second output value of the motor corresponding to the first value and the second value, respectively; a physical quantity conversion process including a conversion process for converting units from the command value to the unit of the type of physical quantity determined in the determination process based on the parameter information, and an inverse conversion process for converting units inversely; and an adjustment information output process for outputting adjustment information on the drive system to which the conversion process or the inverse conversion process of the physical quantity conversion process has been applied.

2. The adjustment support method according to claim 1, wherein the first value and the second value are the maximum value and the minimum value of the command value, respectively.

3. The adjustment support method according to claim 1, further comprising a type acquisition process for acquiring type information specifying the type of the drive device, wherein the determination process determines the type of the physical quantity based on the type of the drive device specified by the type information.

4. The adjustment assistance method according to claim 3, wherein the drive device includes any one of a linear motion device, a circular motion device, and an angular motion device.

5. The adjustment support method according to claim 4, wherein, when the type of the drive device specified by the type information is the linear motion device or the circular motion device, the determination process determines the type of the physical quantity to be displacement.

6. The adjustment assistance method according to claim 4, wherein, when the type of the drive device specified by the type information is the angular motion device, the determination process determines the type of the physical quantity to be an angle.

7. The adjustment assistance method according to claim 1, wherein the determination process determines the type of the physical quantity to be one of displacement, angle, velocity, acceleration, angular velocity, angular acceleration, thrust, and torque.

8. The adjustment assistance method according to claim 1, wherein the control device has a function of performing AD conversion on analog output values ​​that are sensing results of an external sensor that performs sensing on the motor or the drive device separately from the sensor, to obtain converted values, and the adjustment assistance method further includes: a sensor information acquisition process that acquires sensor information including first and second measurement values ​​related to a range of measurement values ​​measured by the external sensor, and first and second analog output values ​​that correspond to the first and second measurement values, respectively; a measurement value conversion process that includes a conversion process that performs unit conversion from the analog output value or the converted value to a unit of the measurement value based on the sensor information, and an inverse conversion process that performs unit conversion inversely; and a specific information output process that outputs specific information related to the drive system to which the conversion process or the inverse conversion process of the measurement value conversion process has been applied.

9. The adjustment support method according to claim 8, further comprising: a settling width acquisition process for acquiring a settling width indicating a performance index relating to the stopping accuracy of a moving part of the motor or the drive device; a settling width conversion process for converting the settling width acquired in the settling width acquisition process into a unit of the analog output value or the converted value; and an index setting process for setting the value after unit conversion by the settling width conversion process as an evaluation index of the drive device.

10. The adjustment support method according to claim 8, wherein the specific information output process includes a graph display process that generates a graph relating to the specific information obtained by converting the analog output value or the converted value into the unit of the measurement value in the measurement value conversion process and displays the graph on a display unit.

11. The adjustment assistance method according to claim 8, wherein the first measurement value and the second measurement value are the maximum measurement value and the minimum measurement value in the range, respectively, and the first analog output value and the second analog output value are the maximum output value and the minimum output value, respectively.

12. An adjustment support method for supporting adjustment of a drive system including a motor, a drive device driven by the power of the motor, a sensor that performs sensing on the motor or the drive device, and a control device that determines a control value for the motor based on a command value and the sensing result of the sensor and controls the motor so that the drive device performs a predetermined operation, wherein the control device has a function of performing AD conversion on analog output values ​​that are sensing results from an external sensor that performs sensing on the motor or the drive device separately from the sensor to obtain converted values, and the adjustment support method includes: a sensor information acquisition process that acquires sensor information including first measurement values ​​and second measurement values ​​related to a range of measurement values ​​measured by the external sensor, and first analog output values ​​and second analog output values ​​that correspond to the first measurement values ​​and the second measurement values, respectively; a measurement value conversion process that includes a conversion process that converts the analog output values ​​or the converted values ​​into units of the measurement values ​​based on the sensor information, and an inverse conversion process that performs unit conversion inversely; and a specific information output process that outputs specific information on the drive system to which the conversion process or the inverse conversion process of the measurement value conversion process has been applied. Coordination support method.

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

14. An adjustment support system that supports adjustment of a drive system including a motor, a drive device driven by the power of the motor, a sensor that performs sensing on the motor or the drive device, and a control device that determines a control value for the motor based on a command value and the sensing results of the sensor and controls the motor so that the drive device performs a predetermined operation, the adjustment support system comprising: a determination processing unit that determines a type of physical quantity that can change depending on the operation of the motor; a parameter acquisition unit that acquires parameter information including a first value and a second value corresponding to two different coordinate positions with respect to the command value, and a first output value and a second output value of the motor corresponding to the first value and the second value, respectively; a physical quantity conversion unit that has a conversion function that performs unit conversion from the command value to the unit of the type of physical quantity determined by the determination processing unit based on the parameter information, and an inverse conversion function that performs unit conversion vice versa; and an adjustment information output unit that outputs adjustment information on the drive system to which conversion by the conversion function of the physical quantity conversion unit or inverse conversion by the inverse conversion function has been applied.

15. An adjustment support system that supports adjustment of a drive system including a motor, a drive device driven by the power of the motor, a sensor that performs sensing on the motor or the drive device, and a control device that determines a control value for the motor based on a command value and the sensing result of the sensor and controls the motor so that the drive device performs a predetermined operation, wherein the control device has a function of acquiring a converted value by performing AD conversion on an analog output value that is a sensing result of an external sensor that performs sensing on the motor or the drive device separately from the sensor, and the adjustment support system comprises: a sensor information acquisition unit that acquires sensor information including first and second measurement values ​​related to a range of measurement values ​​measured by the external sensor, and first and second analog output values ​​that correspond to the first and second measurement values, respectively; a measurement value conversion unit that has a conversion function that converts the analog output value or the converted value into a unit of the measurement value based on the sensor information, and an inverse conversion function that performs unit conversion in the reverse direction; an identification information output unit that outputs identification information about the drive system to which conversion by the conversion function of the measurement value conversion unit or inverse conversion by the inverse conversion function has been applied.

Images