Adjustment support method, program, and adjustment support system

Abstract

This adjustment support method includes a constraint reception step and a first adjustment step. In the constraint reception step, input of motor constraint conditions is received. In the first adjustment step, a control device (3) is caused to perform first drive control for testing in order to adjust one or more parameters set for the control device (3). In the constraint reception step, input of a first motor constraint condition applied to the first drive control and input of a second motor constraint condition applied to a second drive control for actual operation are received separately as the motor constraint conditions. In the first adjustment step, the control device (3) is caused to perform the first drive control so as to satisfy the first motor constraint condition received in the constraint reception step.

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 control device that controls the drive of a motor connected to a load.

[0002] Patent Document 1 discloses a servo adjustment method for a motor drive device. In this patent document, the automatic adjustment function of the motor drive device is configured to be collectively controlled by a servo adjustment unit. The servo adjustment unit implements a servo adjustment step, including any of five steps (Steps 1 to 5). Step 1 is an initial setting that is executed before Steps 2 to 5. Step 1 inputs information about the control target and selects the initial conditions and function enable / disable for the adjustment steps from Step 2 onwards. Step 2 measures load characteristics. Step 3 adjusts the stiffness setting function. Step 3 performs a trial run in conjunction with Step 2. Step 4 measures the command response. Step 5 performs final settings. The servo adjustment step also includes a step of repeatedly performing fine adjustments and trial runs, and then saving the results as final adjustment results in the motor drive device. Step 1 also inputs a quantitative measurement threshold, such as a maximum torque limit, and outputs the initial conditions. Step 2 changes the operating conditions used in the subsequent adjustment steps depending on whether the evaluation index related to the measured torque command is below or exceeds the maximum torque limit specified in Step 1.

[0003] Japanese Patent Application Laid-Open No. 2019-37129

[0004] Whether the torque (or thrust) or speed of a motor during operation becomes excessive depends not only on the operating conditions but also on the device characteristics (inertia, friction characteristics, vibration characteristics) and parameter settings of the entire device (plant) including the motor and a load connected to the motor. Examples of parameter settings include settings related to the device characteristics (parameter values ​​related to the inertia ratio and friction characteristics), settings related to feedback control (feedback control gain value, whether or not a filter such as a notch is used and its parameter value), and settings related to feedforward control (parameter value of a second-order lag filter for a command, whether or not a vibration suppression filter is used and its parameter value).

[0005] Furthermore, whether the motor torque or speed will be excessive during the parameter adjustment process cannot be determined without actually driving the motor and operating the moving part (drive unit) of the load. Therefore, users must set limit values ​​for the motor torque and speed before adjustment. In doing so, to reduce the risk of equipment failure during the parameter adjustment process, limit values ​​that differ from the actual limit values ​​(specification values) of the plant may be set. As a result of such settings, users must manually change the limit values ​​to the actual limit values ​​after adjustment is complete, which may lead to user errors such as incorrect setting or incorrect recovery of limit values.

[0006] The present disclosure provides an adjustment support method, a program, and an adjustment support system that can reduce the possibility of a user making an operational error during the parameter adjustment process.

[0007] An adjustment support method according to one aspect of the present disclosure is an adjustment support method for an adjustment support system that supports adjustment of a control device that controls drive of a motor connected to a load. The control device performs a first drive control for testing, which controls drive of the motor based on an operation command from the adjustment support system, and a second drive control for actual operation, which controls drive of the motor based on an operation command from an external device different from the adjustment support system. The adjustment support method includes a constraint receiving step and a first adjustment step. The constraint receiving step receives input of motor constraints related to at least one of the torque or thrust of the motor and the speed of the motor. The first adjustment step causes the control device to perform the first drive control in order to adjust one or more parameters set for the control device. The constraint receiving step separately receives input of a first motor constraint to be applied to the first drive control and a second motor constraint to be applied to the second drive control as the motor constraints. The first adjustment step causes the control device to perform the first drive control so as to satisfy the first motor constraint received in the constraint receiving step.

[0008] A program according to one aspect of the present disclosure is a program for causing one or more processors to execute the above-described adjustment support method.

[0009] An adjustment support system according to one aspect of the present disclosure provides support for adjustment of a control device that controls the drive of a motor connected to a load. The control device performs a first drive control for testing, which controls the drive of the motor based on an operation command from the adjustment support system, and a second drive control for actual operation, which controls the drive of the motor based on an operation command from an external device different from the adjustment support system. The adjustment support system includes a constraint receiving unit and an adjustment unit. The constraint receiving unit receives input of motor constraint conditions related to at least one of the torque or thrust of the motor and the speed of the motor. The adjustment unit causes the control device to perform the first drive control in order to adjust one or more parameters set for the control device. The constraint receiving unit separately receives input of a first motor constraint condition to be applied to the first drive control and a second motor constraint condition to be applied to the second drive control as the motor constraint conditions. The adjustment unit causes the control device to perform the first drive control so as to satisfy the first motor constraint condition received by the constraint receiving unit.

[0010] The adjustment support method, program, and adjustment support system according to one aspect of the present disclosure have the advantage of reducing the possibility of a user making an operational error during the parameter adjustment process.

[0011] 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. FIG. 3A is a block configuration diagram of a communication terminal in which the functions of the adjustment support system are implemented. FIG. 3B is a block configuration diagram of the adjustment support system. FIG. 4 is a schematic cross-sectional view of a plant including a motor and a load. FIG. 5 is a conceptual diagram of a main setting screen in the adjustment support system. FIG. 6 is a conceptual diagram of a detailed setting screen related to protection functions in the adjustment support system. FIG. 7 is a conceptual diagram of a detailed setting screen related to operation commands in the adjustment support system. FIG. 8 is a flowchart related to the operation of the adjustment support system.

[0012] (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.

[0013] 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.

[0014] The adjustment support method according to this embodiment is an adjustment support method for an adjustment support system 1 (see FIG. 1) that supports adjustment of a control device 3 that controls the drive of a motor M1 connected to a load 4.

[0015] In other words, the adjustment assistance method is an adjustment assistance method that assists in adjustment of the drive system 2 (see FIG. 1).

[0016] As shown in FIGS. 1 and 2 , the drive system 2 includes a plant B1 including a motor M1 (e.g., a servo motor) and a load 4 (load device), a position detector 5, and a control device 3 (e.g., a servo amplifier A1). The load 4 (load device) is driven by the power of the motor M1. The position detector 5 detects the position of the motor M1. The control device 3 provides a control input to the plant B1, which is the control target. That is, the control device 3 determines a control value for the motor M1 based on a command value and the detected value of the position detector 5, and controls the motor M1 so that the load 4 performs a predetermined operation. As will be described in detail later, the control device 3 includes, for example, a position / speed control unit 30 and a current control unit 31, as shown in FIG. 2 .

[0017] The drive system 2 may be applied to a semiconductor component mounting machine, a component processing machine, or a conveyor for finished or semi-finished products in a facility such as a factory. The load 4 may be, for example, a unit including a positioning stage (table) driven by a motor M1. In the following embodiment, as an example, the motor M1 is a rotary servo motor, and the number of motors is assumed to be one. As another example, the load 4 is assumed to be a single-axis unit that positions a workpiece by linearly moving a movable part 41 (see FIG. 4 : table) along the X-axis using a ball screw mechanism connected to the rotary servo motor (motor M1). In other words, the rotational motion transmitted from the output shaft of the rotary servo motor may be converted into linear motion using, for example, a ball screw mechanism.

[0018] However, the motor M1 is not limited to a rotary servo motor and may be a linear servo motor. The number of motors M1 is not limited to one. The plant B1 is not limited to a single-axis (one-axis) unit and may be a multi-axis unit such as a gantry mechanism.

[0019] In the following 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).

[0020] Here, a user of the drive system 2 may perform an operation check in advance to check whether the desired operation of the drive system 2 is being achieved, for example, before actually operating the drive system 2. The user may use a communication terminal 7 (user interface) to perform the operation check in advance. The communication terminal 7 has the functions of the adjustment support system 1 implemented therein.

[0021] A user may use a communication terminal 7 equipped with the functions of the adjustment support system 1 to input operating conditions for the drive system 2 as initial settings and cause the drive system 2 to perform a test run operation. The adjustment support system 1 has a function to automatically adjust various parameters by performing a test run operation. Note that among the various parameters, in addition to those determined by automatic adjustment by the adjustment support system 1, some may also be directly input by the user via the communication terminal 7.

[0022] As described above, the various parameters include values ​​related to the device characteristics (i.e., the characteristics of plant B1) (parameter values ​​related to the inertia ratio and friction characteristics), settings related to feedback control against disturbances (value of feedback control gain, whether or not to use a filter such as a notch and its parameter value), and settings related to feedforward control of the speed of operation (parameter value of a second-order lag filter for commands, whether or not to use a vibration suppression filter and its parameter value).

[0023] Examples of the communication terminal 7 include a notebook computer as shown in FIG. 1, a tablet terminal, a desktop personal computer (PC), an industrial PC, and the like.

[0024] The user performs a test run of plant B1 using adjustment support system 1, checks on the screen of communication terminal 7 whether the desired operational performance, for example, the settling time, which is an example of an evaluation index, meets the desired target value (target time), and performs fine-tuning of the parameters if the target value is not met. Settling time is the delay time of the actual operation in response to an operation command (position command), that is, the time it takes for the position error to converge within a settling width, which is the allowable accuracy, after the position command is completed. Using adjustment support system 1, the user can gradually bring the parameters closer to appropriate values ​​by performing test run operations and fine-tuning the parameters several times.

[0025] In the following embodiment, the operation commands are assumed to be an operation command from the adjustment support system 1 and an operation command from an external device (here, as an example, the upper controller 6 shown in FIG. 1 ) different from the adjustment support system 1. That is, the control device 3 performs a first drive control for testing that controls the drive of the motor M1 based on an operation command from the adjustment support system 1, and a second drive control for actual operation that controls the drive of the motor M1 based on an operation command from the external device (the upper controller 6) different from the adjustment support system 1.

[0026] The adjustment support system 1 can also check the operation by selecting an operation command from an external device (host controller 6). When the operation command is selected, the second drive control for actual operation is performed.

[0027] However, in such adjustment work, if constraints (limit values) that differ from the actual limit values ​​are set for the torque and speed of motor M1, the limit values ​​must be changed before and after the adjustment, which may result in user errors such as incorrect setting or restoration of the limit values.

[0028] Therefore, the adjustment assistance method according to this embodiment includes a constraint receiving step and a first adjustment step. In the constraint receiving step, input of motor constraint conditions related to at least one of the torque or thrust of the motor M1 and the speed of the motor M1 is received. In the first adjustment step, the control device 3 is caused to perform a first drive control in order to adjust one or more parameters set for the control device 3. In the constraint receiving step, input of a first motor constraint condition applied to the first drive control and a second motor constraint condition applied to the second drive control are separately received as motor constraint conditions. In the first adjustment step, the control device 3 is caused to perform the first drive control so as to satisfy the first motor constraint condition received in the constraint receiving step. Note that the above-mentioned "torque or thrust of the motor M1" refers to "torque of the motor M1" if the motor M1 is a rotary servomotor (as in the following embodiment), and refers to "thrust of the motor M1" if the motor M1 is a linear servomotor. Note that the first adjustment step may be subdivided according to the type of parameter and include multiple adjustment steps.

[0029] According to the adjustment support method of this embodiment, in the constraint receiving step, the adjustment support system 1 separately receives input of the first motor constraint and the second motor constraint. Furthermore, in the first adjustment step, the adjustment support system 1 causes the control device 3 to perform first drive control so as to satisfy the first motor constraint. This makes it easier to separately set and manage the first motor constraint and the second motor constraint, reducing the possibility of a user error. As a result, the adjustment support method according to the above aspect has the advantage of reducing the possibility of a user error during the parameter adjustment process.

[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 control device 3. As shown in FIG. 3B , the adjustment support system 1 includes a constraint receiving unit 12 and an adjustment unit 11. The constraint receiving unit 12 receives input of motor constraint conditions related to at least one of the torque or thrust of the motor M1 and the speed of the motor M1. The adjustment unit 11 causes the control device 3 to perform first drive control in order to adjust one or more parameters set for the control device 3. The constraint receiving unit 12 separately receives input of a first motor constraint condition to be applied to the first drive control and a second motor constraint condition to be applied to the second drive control as motor constraint conditions. The adjustment unit 11 causes the control device 3 to perform the first drive control so as to satisfy the first motor constraint condition received by the constraint receiving unit 12.

[0032] The adjustment support system 1 according to this embodiment also has the advantage of reducing the possibility of a user making an operational error during the parameter adjustment process.

[0033] In the following embodiment, 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.

[0034] (Details) (1) Overall Configuration The entire system including the adjustment support system 1 (communication terminal 7), drive system 2, and their peripheral configuration according to this embodiment will be described in detail below with reference to Figs. 1 to 4. Fig. 1 is a configuration diagram of the entire system including the adjustment support system 1 and drive system 2 according to this embodiment. Fig. 2 is a block configuration diagram of the drive system 2. Fig. 3A is a block configuration diagram of the communication terminal 7 in which the functions of the adjustment support system 1 are implemented. Fig. 3B is a block configuration diagram of the adjustment support system 1. Fig. 4 is a schematic cross-sectional view of a plant B1 including a motor M1 and a load 4.

[0035] The adjustment support system 1 is configured to support adjustments related to the control device 3. Specifically, the adjustment support system 1 adjusts various parameters set for the control device 3 of the drive system 2 while causing the drive system 2 to perform a test run operation, and after operational safety has been confirmed, performs a series of operational support operations to confirm the operation by causing the drive system 2 to perform actual operation. The peripheral configuration is, for example, a host controller 6. The host controller 6 corresponds to an example of an external device different from the adjustment support system 1.

[0036] Hereinafter, the test operation of the drive system 2 executed in response to an operation command (command position) from the adjustment support system 1 (communication terminal 7) may be simply referred to as a "test operation." Furthermore, the actual operation of the drive system 2 related to normal operation, such as performing processing such as positioning of an object (workpiece) in response to an operation command (position command) from the upper controller 6, may be referred to as an "operational operation."

[0037] 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.

[0038] 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).

[0039] The adjustment support method and adjustment support system 1 disclosed herein are applicable not only to test operations but also to operation operations. That is, a user can use the adjustment support system 1 to select, for example, a test operation or an operation and cause the drive system 2 to perform the operation.

[0040] (2) Drive System As shown in Figures 1 and 2, the drive system 2 includes a plant B1, a position detector 5, and a control device 3 (servo amplifier A1). The plant B1 includes a motor M1 and a load 4 (load device). An external sensor (for example, a laser displacement meter for measuring the displacement (amount of movement) of the load 4) for checking and measuring the operability of the motor M1 and the load 4 may be applied to the drive system 2.

[0041] The motor M1 is a rotary servo motor having an output shaft, and the output shaft is rotated by power supplied from the control device 3.

[0042] The load 4 has, for example, a positioning stage that operates using a motor M1 as a drive source. Specifically, the load 4 is a single-axis (one-axis) unit that has, for example, a ball screw mechanism that is connected to (the output shaft of) a rotary motor M1 and rotates in synchronization with the output shaft of the motor M1, and a movable part 41 (see FIG. 4: table) that moves linearly along the X-axis (the axis X1 in the left-right direction in FIG. 4 ) by the ball screw mechanism. That is, the motor M1 is connected to the load 4, and the load 4 is driven by the power of the motor M1.

[0043] The position detector 5 may be an encoder that detects the rotation direction and position (angle) of the motor M1. The position detector 5 outputs a position detection signal indicating the amount of movement (detection value) of the motor M1, which is the detection result, to the position / speed control unit 30 of the control device 3 (see FIG. 2). The position detection signal indicating the detection value output from the position detector 5 is expressed in units of, for example, pulses.

[0044] In addition to the position detector 5, the drive system 2 may further include external sensors for confirming and measuring the operability of the motor M1 or the load 4 (the movable part 41 thereof), such as a speed sensor for detecting speed, an acceleration sensor for detecting acceleration, a force sensor for detecting thrust (or torque), and a vibration sensor for detecting vibration. The force sensor includes, for example, a piezoelectric, magnetostrictive, or strain gauge force sensor.

[0045] The control device 3 (servo amplifier A1) includes a computer system having one or more processors and a memory. At least some of the functions of the control device 3 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.

[0046] The control device 3 is communicatively connected to the position detector 5 and receives a position detection signal from the position detector 5 .

[0047] The control device 3 determines a control value for the motor M1 based on the command value and the detection result of the position detector 5, and controls the drive of the motor M1 so that the load 4 performs a test operation (or an operating operation). For example, during an operating operation, the control device 3 controls the drive of the motor M1 while performing feedback control based on a position detection signal from the position detector 5 and a signal including an operation command (command value) from the upper controller 6. Specifically, as shown in FIG. 2 , the control device 3 has a position / speed control unit 30 and a current control unit 31. 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 5 matches the operation command from the upper controller 6, and outputs a torque command signal. The current control unit 31 determines a voltage command value according to the torque command signal received from the position / speed control unit 30, and adjusts the power (drive current) supplied to the motor M1. In this way, the control device 3 drives the movable part 41 of the load 4 to a predetermined position.

[0048] Furthermore, for example, during test operation, the control device 3 controls the driving of the motor M1 so as to perform the test operation while performing feedback control based on the position detection signal from the position detector 5 and a signal including an operation command (command value) from the adjustment support system 1 (communication terminal 7).

[0049] In short, the control device 3 performs a first drive control for testing, which controls the drive of the motor M1 based on an operation command from the adjustment support system 1, and a second drive control for actual operation, which controls the drive of the motor M1 based on an operation command from an external device (upper controller 6).

[0050] The "command unit" of the "command value (command position)" that is an operation command from the upper controller 6 or the communication terminal 7 is, for example, pulses. To accommodate controller limitations, such as a limited output resolution for the motor's position detector, the servo amplifier can be configured with electronic gears so that the position detector and the operation command from the upper controller, etc., operate at different pulse units. The control device 3 (servo amplifier A1) can also configure the electronic gear. The user can set the gear ratio of the electronic gear in the servo amplifier A1 via the communication terminal 7, and 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 in the external operation command to be freely modified, and the motor output is determined by the modified 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).

[0051] The test operation may be, for example, an operation in which the movable part 41 of the load 4 is displaced (moved) from the current position (start position) to a positive position (maximum position) specified by a command position. The test operation may also be an operation in which the movable part 41 is displaced from the current position (start position) to a negative position (minimum position) specified by a command position. The test operation may also be a reciprocating operation from the current position (start position) to a positive position (maximum position) and back to the current position (end position). The test operation may also be a reciprocating operation on the positive and negative sides from the current position (start position) to a positive position (maximum position), back to the current position, displaced to a negative position (minimum position), and back to the current position (end position). The test operation is not limited to the so-called positioning operation described above, but may also be an operation using a vibration signal for measuring frequency characteristics during adjustment. In the following, as an example, the test operation is assumed to be a reciprocating operation on the positive and negative sides.

[0052] The "current position" is, for example, as shown in FIG. 4 , the initial position P0 of the movable part 41 on the X axis (the axis X1 along the left-right direction in FIG. 4 ) before the start of the test operation. Note that in FIG. 4 , the direction of the arrow on the axis X1 corresponds to the positive side of the X axis, and the opposite direction corresponds to the negative side of the X axis. The "maximum position" corresponds to the first position P1 in FIG. 4 , and the "minimum position" corresponds to the second position P2 in FIG. 4 . The range of movement R1 of the movable part 41 is from the "maximum position" to the "minimum position," i.e., from the first position P1 to the second position P2. The range of movement R1 can be set by the user on the main setting screen G1 via the communication terminal 7, as described below.

[0053] In the test operation, for example, if the initial position P0 is located near either the first position P1 or the second position P2, the movable part 41 is driven to move toward the closer position first. If the initial position P0 is located intermediate between the first position P1 and the second position P2, the movable part 41 is driven to move toward the positive side (toward the first position P1) first.

[0054] The movement of the movable part 41 during the test operation will be briefly described using the example of "moving in the positive direction first." For example, the movable part 41 first accelerates toward the first position P1, moves at a constant speed, and then decelerates as it approaches the first position P1. When the movable part 41 reaches the first position P1, it pauses there. Then, the movable part 41 accelerates in the reverse direction, i.e., toward the negative direction (second position P2), moves at a constant speed, passes the initial position P0, and decelerates as it approaches the second position P2. When the movable part 41 reaches the second position P2, it pauses there. Then, the movable part 41 accelerates in the reverse direction, i.e., toward the positive direction (initial position P0), moves at a constant speed, and then decelerates as it approaches the initial position P0. When the movable part 41 reaches the initial position P0, it stops, completing one test operation. The number of test operations (number of trials) can be set by the user via the communication terminal 7 (specified in the input field D97 of the detailed setting screen G3 shown in FIG. 7), as will be described later.

[0055] The control device 3 transmits various types of information during the test operation or operation to the communication terminal 7. For example, during the test operation or operation, the control device 3 transmits information including the detection results of the position detector 5 and the sensing results of other sensors (external sensors, etc.). Based on the information received from the control device 3, the communication terminal 7 can graph and output evaluation information regarding the motor M1 and the load 4. The communication method between the control device 3 and the communication terminal 7 may be wireless or wired.

[0056] The control device 3 also has a function of setting, via the adjustment support system 1 (communication terminal 7), parameter values ​​related to device characteristics, such as the inertia ratio and friction characteristics. The control device 3 has a friction compensation function that compensates for friction torque that may occur on the motor M1 or load 4 side, based on the parameter values ​​related to the inertia ratio and friction characteristics. For example, a friction compensation value obtained by the friction compensation function is added to a torque command output from the position / speed control unit 30, and a signal including the addition result can be input to the current control unit 31. As a result, the friction torque generated on the motor M1 or load 4 can be compensated.

[0057] The control device 3 also has a function of setting, via the adjustment support system 1 (communication terminal 7), for example, feedback control gain, whether or not to use a filter such as a notch, and the parameter values ​​thereof, regarding feedback control. For example, the position / speed control unit 30 can determine a speed command that brings the position deviation closer to zero by multiplying the deviation (position deviation) between the position command and the detection value from the position detector 5 by a set feedback control gain (position loop gain). Also, for example, the torque command signal output from the position / speed control unit 30 can have set frequency components removed by a notch filter and then be input to the current control unit 31.

[0058] In addition, the control device 3 has a function of setting parameters related to feedforward control of the operating speed of the motor M1 via the adjustment support system 1 (communication terminal 7). That is, when an operation command (position command) is input from the upper controller 6 or the communication terminal 7, the control device 3 determines a feedforward command related to the torque and speed (angular velocity) of the motor M1 based on the operation command, and adds the determined feedforward command to the torque command and speed command, thereby improving the responsiveness of the motor M1. In the above processing, settings related to the set feedforward control (parameter values ​​of a second-order lag filter for the command, whether to use a vibration suppression filter and its parameter values) can be applied.

[0059] In this way, during operating or test operation, the control device 3 adjusts the drive current and controls the motor M1 based on the operation command from the upper controller 6 or the communication terminal 7, the operation amount from the position detector 5, and various set parameters.

[0060] (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.

[0061] The upper controller 6 is configured using, for example, a programmable logic controller (PLC) or the like, and controls the operation of the equipment by issuing operation commands to the control device 3 (servo amplifier A1). When the upper controller 6 is connected to the control device 3 so that it can communicate with the control device 3, 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 an operation command, i.e., data for specifying a command value (command position).

[0062] (4) Communication Terminal As shown in FIG. 1, the communication terminal 7 is assumed to be a notebook computer, for example.

[0063] The communication terminal 7 is communicably connected to the control device 3 (servo amplifier A1). The communication method between the communication terminal 7 and the control device 3 is not particularly limited, and may be wireless or wired. The communication terminal 7 may be connected to the control device 3 during test operation and operating operation, or may be connected to the control device 3 during test operation and disconnected from the control device 3 during operating operation.

[0064] 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, a separate display device may be attached to the communication terminal 7.

[0065] 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.

[0066] The processing unit 71 has the functions of the adjustment support system 1 according to this embodiment. Dedicated application software is pre-installed on the communication terminal 7 to communicate with the control device 3 and provide the functions of the adjustment support system 1. Details of the adjustment support system 1 will be described later.

[0067] 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.

[0068] 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 perform a preliminary operation check of the drive system 2 (including parameter adjustment). The user then uses the operation unit 72 to start dedicated application software on the communication terminal 7, inputs information including initial settings for the control device 3, and performs an input to start adjustment, thereby executing the multiple steps described below. If the display unit 70 is configured as a touch panel display, it also functions as the operation unit 72.

[0069] The storage unit 73 includes an electrically rewritable nonvolatile semiconductor memory such as a flash memory. The storage unit 73 can store (contain) information input on screens such as a main setting screen G1, a detailed setting screen G2 related to protection functions, a detailed setting screen G3 related to operation commands (see FIGS. 5 to 7), and a specification value setting screen (not shown). The storage unit 73 may be a memory of the processing unit 71.

[0070] (5) Adjustment Support System The configuration of the adjustment support system 1 will now be described in detail.

[0071] 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.

[0072] The adjustment support system 1 supports adjustment of the drive system 2. That is, the adjustment support system 1 supports adjustment of the control device 3 that controls the drive of the motor M1 connected to the load 4. In particular, the adjustment support system 1 has a function of automatically adjusting parameters related to device characteristics, feedback control, and feedforward control (command response) through test operations. Note that some parameters can be adjusted based on input from the user.

[0073] 3B, the adjustment support system 1 includes an adjustment unit 11 and a constraint receiving unit 12. The functions of these units are implemented in a processing unit 71 of the communication terminal 7.

[0074] The constraint receiving unit 12 receives input of motor constraint conditions related to at least one of the torque or thrust (here, torque) of the motor M1 and the speed of the motor M1. In other words, the adjustment support method includes a constraint receiving step (constraint receiving process), in which input of the motor constraint conditions is received. In this embodiment, the constraint receiving unit 12 receives input of motor constraint conditions related to both the torque and speed of the motor M1. The constraint receiving unit 12 receives input of the motor constraint conditions via a detailed setting screen G2 (see FIG. 6 ) related to the protection function displayed on the display unit 70. In this embodiment, the constraint receiving step can be performed in the initial setting step S1 shown in FIG. 8 .

[0075] After accepting the input of the motor constraint conditions via the detailed setting screen G2 (see Figure 6), the constraint accepting unit 12 compares the input with the actual limit values ​​(specification values) of the plant via a specification value setting screen (not shown: a screen different from the detailed setting screen G2) displayed on the display unit 70, and can accept the more restrictive condition as a new constraint condition.

[0076] The adjustment unit 11 causes the control device 3 to perform a first drive control in order to adjust one or more parameters (here, the various parameters described above) set for the control device 3. In other words, the adjustment support method includes a first adjustment step (first adjustment process), in which the control device 3 is caused to perform a first drive control in order to adjust one or more parameters set for the control device 3. The first drive control is a test drive control that controls the drive of the motor M1 based on an operation command from the adjustment support system 1. In this embodiment, the first adjustment step may correspond to step S2 to stiffness measurement step S3 of the load characteristic measurement shown in FIG.

[0077] The constraint receiving unit 12 separately receives input of a first motor constraint condition to be applied to the first drive control and a second motor constraint condition to be applied to the second drive control as motor constraint conditions. The second drive control is drive control for actual operation that controls the drive of the motor M1 based on an operation command from the upper controller 6.

[0078] In this embodiment, as an example, the first motor constraint condition will be described as being a condition that is more restrictive than the second motor constraint condition.

[0079] The first motor constraint condition also includes at least a condition that the torque or thrust (herein, torque) of the motor M1 is equal to or less than a limit value (hereinafter also referred to as an "adjustment torque limit value"). In the first adjustment step, the control device 3 is caused to perform first drive control so that the torque or thrust (herein, torque) of the motor M1 does not exceed the limit value (adjustment torque limit value). A numerical value related to this adjustment torque limit value can be input via the detailed setting screen G2 shown in FIG. 6.

[0080] The first motor constraint condition also includes at least a condition that the speed of the motor M1 is equal to or less than a limit value (hereinafter also referred to as an "adjustment speed limit value"). In the first adjustment step, if the speed of the motor M1 exceeds the limit value (adjustment speed limit value), the control device 3 is instructed to stop driving the motor M1. A numerical value related to this adjustment speed limit value can be input via the detailed setting screen G2 shown in FIG. 6. Note that if the speed of the motor M1 actually exceeds the limit value (adjustment speed limit value) and the control device 3 stops driving the motor M1, the adjustment support system 1 preferably notifies the user via the display unit 70 of the fact that an emergency stop has been made due to the excessive speed of the motor M1.

[0081] The second motor constraint condition includes at least a condition that the torque or thrust (herein, torque) of the motor M1 is equal to or less than a limit value (hereinafter also referred to as an "actual operation torque limit value"). The actual operation torque limit value is, for example, a specification value (limit value) for the plant B1 that is described in the specifications of the plant B1. A numerical value for this actual operation torque limit value can be input via a specification value setting screen (not shown; a screen different from the detailed setting screen G2) displayed on the display unit 70.

[0082] The second motor constraint condition also includes at least a condition that the speed of the motor M1 is equal to or less than a limit value (hereinafter also referred to as an "actual operation speed limit value"). The actual operation speed limit value is, for example, a specification value (limit value) for the plant B1 that is described in the specifications of the plant B1. The numerical value for the actual operation speed limit value can be input via a specification value setting screen (not shown; a screen different from the detailed setting screen G2) displayed on the display unit 70.

[0083] The adjustment unit 11 causes the control device 3 to perform the first drive control so as to satisfy the first motor constraint condition accepted by the constraint acceptance unit 12 .

[0084] Furthermore, the adjustment unit 11 causes the control device 3 to perform second drive control so as to satisfy the second motor constraint condition accepted by the constraint acceptance unit 12. In other words, the adjustment support method further includes a second adjustment step (second adjustment process) of causing the control device 3 to perform second drive control so as to satisfy the second motor constraint condition accepted in the constraint acceptance step.

[0085] In addition, the adjustment support system 1 has the function of automatically switching between the first motor constraint condition and the second motor constraint condition depending on whether it is the first adjustment step (first adjustment process) or the second adjustment step (second adjustment process).

[0086] In this embodiment, the second adjustment step may correspond to step S4 of command response measurement to step S5 of final setting shown in Fig. 8. That is, for example, in steps S2 and S3, first, a first adjustment step (first adjustment process) is performed using the first drive control, and then in steps S4 and S5, a second adjustment step (second adjustment process) is performed using the second drive control.

[0087] In this embodiment, the second adjustment step is performed after the first adjustment step. In the flowchart shown in Fig. 8, when moving from the first adjustment step to the second adjustment step, the adjustment support system 1 automatically switches from the first motor constraint condition to the second motor constraint condition.

[0088] The adjustment support system 1 has a function of displaying a main setting screen G1, a detailed setting screen G2 related to protection functions, and a detailed setting screen G3 related to operational commands (see FIGS. 5 to 7 ) on the display unit 70. The adjustment support system 1 also has a function of displaying the above-mentioned specification value setting screen (not shown) and an evaluation screen (not shown) showing graphs for checking evaluation indicators such as the above-mentioned settling time on the display unit 70. These screens can be displayed on the display unit 70 as window screens, for example.

[0089] 5 to 7, various screens in the adjustment support system 1 will be described. Figures 5 to 7 are conceptual diagrams of a main setting screen G1, a detailed setting screen G2 related to protection functions, and a detailed setting screen G3 related to operational commands, respectively, in the adjustment support system 1.

[0090] [Main Setting Screen] The main setting screen G1 (see FIG. 5) can be displayed on the display unit 70 when the user uses the operation unit 72 to start dedicated application software on the communication terminal 7 and performs an operation input to start “automatic adjustment” of parameters on the menu screen.

[0091] The main setting screen G1 includes a display area D1 for operation commands, a display area D2 for the operating range, an input area D3 for maximum and minimum positions by jog operation, and an input area D4 for numerically specifying maximum and minimum positions. The main setting screen G1 also includes an input area D5 for report output settings and an input area D6 for detailed settings. The main setting screen G1 also includes operation areas showing a read button E1, a save button E2, and a start adjustment button E3. The user uses an operation unit 72 such as a mouse to select input areas D3 to D6 with a pointer or the like, or to press the read button E1, save button E2, or start adjustment button E3.

[0092] The display area D1 displays a message saying, "The trial run function will be used and the operation command will be automatically set." Note that detailed settings of the operation command can be made in detail on the detailed setting screen G3 shown in FIG.

[0093] Display area D2 displays the message "Set the operating range for adjustment. Move to the maximum / minimum position by jog operation or enter a value."

[0094] The input area D3 includes an operation area D31 for switching the motor M1 between an on state and an off state (FIG. 5 illustrates the on state as an example). The input area D3 also includes an input area related to jog operation. The input area D3 includes a "-" operation area D32 for jog operation in the negative direction at a preset speed when pressed, an operation area D33 for moving to the current position "0" when pressed, and a "+" operation area D34 for jog operation in the positive direction at a preset speed when pressed. The jog operation is a movement operation that does not specify the range of motion of the movable part 41. When the operation area D31 is set to "on," the motor M1 is turned on, and while the "+" operation area D34 is pressed, the motor M1 jogs in the positive direction, and while the "-" operation area D32 is pressed, the motor M1 jogs in the negative direction. When the operation area D31 is set to "off," the motor M1 is turned off. By performing such an operation, the user sets the movement range of the movable part 41 (i.e., the movement range R1).

[0095] The input area D4 is an area for directly inputting and setting the maximum and minimum position values, and includes an input field D41 for inputting the value of the minimum position [command unit (pulse)] and an input field D42 for inputting the value of the maximum position [command unit (pulse)]. The user inputs values ​​into the input fields D41 and D42 to set the operating range of the movable part 41 (i.e., the movable range R1).

[0096] The input area D5 is an area for specifying whether or not to output a report, and includes an operation area D51 for specifying "yes" and an operation area D52 for specifying "no." When "yes" is specified in the operation area D51, after the "automatic adjustment" is completed, a report including the adjustment results and the like is generated and output (displayed) from the display unit 70.

[0097] The input area D6 includes a rectangular operation area for instructing the display of the detailed setting screens G2 and G3. By pressing the operation area, the detailed setting screens G2 and G3 shown in FIGS. 6 and 7 can be displayed.

[0098] The save button E2 is a button for saving the setting information set on the main setting screen G1 and the detailed setting screens G2 and G3. By pressing the save button E2, the user can save the setting information in the storage unit 73. By pressing the read button E1, the user can read out previously saved setting information and perform "automatic adjustment" again using that setting information. In other words, in the constraint acceptance step, previously saved first motor constraint conditions are read out and new first motor constraint conditions are accepted.

[0099] The adjustment start button E3 is a button for instructing the start of "automatic adjustment." After the user has finished setting the setting information on the main setting screen G1 or the detailed setting screens G2 and G3, or after pressing the read button E1 to read the setting information, the user can press the adjustment start button E3 to start "automatic adjustment." Details of "automatic adjustment" will be described later using the flowchart in FIG. 8.

[0100] [Detailed Settings Screen] The detailed settings screen G2 (see FIG. 6) can be displayed on the display unit 70 together with the detailed settings screen G3, for example, when the user presses the operation area of ​​the input area D6 on the main settings screen G1.

[0101] The detailed setting screen G2 is a screen for configuring detailed settings related to the protection functions, i.e., a screen for inputting values ​​related to the adjustment torque limit value and the adjustment speed limit value in the first motor constraint condition described above.

[0102] The detailed setting screen G2 includes an input field D7 for inputting the numerical value of "adjusted overspeed level setting [r / min]" corresponding to the adjusted speed limit value, and an input field D8 for inputting the numerical value of "adjusted torque limit [%]" corresponding to the adjusted torque limit value.

[0103] That is, the constraint receiving unit 12 receives the numerical value input in the input field D7 as the adjustment speed limit value, and receives the numerical value input in the input field D8 as the adjustment torque limit value.

[0104] The detailed setting screen G3 (see FIG. 7) can be displayed on the display unit 70 together with the detailed setting screen G2, for example, when the user presses the operation area of ​​the input area D6 on the main setting screen G1.

[0105] The detailed setting screen G3 is a screen for making detailed settings related to operation commands. On the detailed setting screen G3, the user can set information related to the operation commands that are sent from the adjustment support system 1 (communication terminal 7) to the control device 3 and applied in the test operation.

[0106] The detailed setting screen G3 includes a selection field D911 for selecting "No" and a selection field D912 for selecting "Yes" for higher-level commands (operation commands from the higher-level controller 6). If the user intends to use operation commands from the higher-level controller 6, the user selects the "Yes" selection field D912. If the user does not intend to use operation commands from the higher-level controller 6, the user selects the "No" selection field D911.

[0107] The input fields D92 to D95 below are fields for inputting numerical values ​​and other information of operation commands to be applied in the test operation.

[0108] Specifically, the detailed setting screen G3 further includes an input field D92 for inputting the movement amount [command unit (pulse)] as an operation command for the test operation, an input field D93 for inputting the maximum speed [r / min], an input field D94 for inputting the acceleration / deceleration time [ms], and an input field D95 ​​for inputting the waiting time [ms]. Note that the input fields D92 to D95 display default values ​​that have been set in advance, and the user can change the default values ​​as appropriate.

[0109] The detailed setting screen G3 also includes three selection areas for selecting the direction of movement as an operation command for the test operation. That is, the detailed setting screen G3 further includes a selection area D961 for selecting "reciprocating movement," a selection area D962 for selecting "positive direction movement only," and a selection area D963 for selecting "negative direction movement only." Note that "reciprocating movement" is preset as the default direction of movement, and the user can change the direction of movement as appropriate.

[0110] The detailed setting screen G3 also includes an input field D97 for inputting the number of trials [times] as an operation command for the test operation. Note that the default number of trials is preset to "1 time," and the user can change the number of trials as appropriate.

[0111] The settings for the main setting screen G1 and the detailed setting screens G2 and G3 can be made in the initial setting step S1 in the flowchart of FIG. 8, which will be described later.

[0112] The adjustment support system 1 may also display on the display unit 70 screens for setting adjustment conditions, such as an initial command response for a setting function (command response setting function) related to feedforward control (command response) for operation speed, an initial stiffness for a setting function (stiffness setting function) related to feedback control, enable / disable a function (least squares estimation function) for automatically estimating load characteristics using least squares estimation in a load characteristic measurement function (load characteristic measurement function), enable / disable load characteristic compensation based on the load characteristic measurement results, enable / disable an adaptive filter function, and enable / disable an oscillation detection function. The "load characteristics" are characteristics related to the load 4 among the device characteristics (characteristics of the plant B1), and include, for example, the inertia ratio, unbalanced load, dynamic friction, and viscous friction coefficient of the load 4. The "oscillation detection function" is a function for detecting an oscillation state of the plant B1 by, for example, extracting fluctuations from position information of the motor M1 from the position detector 5. When oscillation is detected, the control device 3 automatically suppresses the oscillation by selecting a stiffness value that narrows the frequency bandwidth of the feedback loop.

[0113] (6) Description of Operation The flow of operations in the adjustment support system 1 will be described below with reference to Fig. 8. Fig. 8 is a flowchart relating to operations in the adjustment support system 1. The flowchart shown in Fig. 8 is merely one example of an operation flow related to the adjustment support system 1, and the order of processes may be changed as appropriate, and processes may be added or omitted as appropriate.

[0114] 8, first, the adjustment support system 1 performs initial setting (step S1). In the initial setting, the adjustment support system 1 accepts user operations on the communication terminal 7 as a user interface, and sets adjustment conditions for the drive system 2.

[0115] Here, the adjustment conditions include conditions set on the above-mentioned main setting screen G1 and detailed setting screens G2 and G3 (such as the operating range of the movable part 41, the number of trials of the test operation, the speed limit value for adjustment, and the torque limit value for adjustment). The adjustment conditions also include adjustment values ​​for various parameters (described above) related to the test operation. The adjustment conditions also include conditions such as the initial command response of the command response setting function, the initial stiffness of the stiffness setting function, whether the least-squares estimation function of the load characteristic measurement function is enabled or disabled, whether load characteristic compensation for the load characteristic measurement result is enabled or disabled, whether the adaptive filter function is enabled or disabled, and whether the oscillation detection function is enabled or disabled. In this embodiment, the least-squares estimation function of the load characteristic measurement function, the load characteristic compensation for the load characteristic measurement result, the adaptive filter function, and the oscillation detection function are all "enabled."

[0116] Next, the adjustment support system 1 measures load characteristics (step S2). More specifically, the adjustment support system 1 performs a test operation to measure (or estimate) load characteristics such as the inertia ratio, unbalanced load, dynamic friction, and viscous friction coefficient. In addition, in the processing of step S2, the adjustment support system 1 determines a command pattern. Here, the "command pattern" is an operation pattern (such as movement amount, acceleration / deceleration time, and maximum speed) that the adjustment support system 1 commands to the control device 3. The determined command pattern is applied in subsequent steps such as stiffness measurement.

[0117] Next, the adjustment support system 1 performs stiffness measurement (step S3). More specifically, the adjustment support system 1 utilizes an adaptive filter function to perform a test operation using the command pattern determined in step S2, and measures (or estimates) the maximum stiffness, which is the upper limit of the stiffness index, by increasing the stiffness index. In addition, in the processing of step S3, the adjustment support system 1 selects a notch filter according to the current stiffness index.

[0118] Next, the adjustment support system 1 performs command response measurement (step S4). More specifically, the adjustment support system 1 measures evaluation indexes such as settling time, overshoot amount, and vibration level. Note that the command pattern in step S4 may be the command pattern determined in step 2, or may be the command pattern set by the user in the input fields D92 to D95 of the detailed setting screen G3. Alternatively, the command pattern in step S4 may be the command pattern from the upper controller 6 by selecting "with upper command" in the selection field D912 of the detailed setting screen G3.

[0119] Next, the adjustment support system 1 performs final setting (step S5). More specifically, the adjustment support system 1 determines and saves (sets) various final parameters based on the evaluation indexes determined in step S4 and the conditions desired by the user. That is, the various final parameters are set in the control device 3.

[0120] In the first adjustment step of each of steps S2 to S4, the adjustment unit 11 causes the control device 3 to perform a first drive control so that the torque of the motor M1 does not exceed a limit value. Also, in the first adjustment step of each of steps S2 to S4, the adjustment unit 11 causes the control device 3 to stop driving the motor M1 if the speed of the motor M1 exceeds the limit value.

[0121] For example, when adjustment is performed by selecting "Yes" for upper level command in the selection area D912 of the detailed setting screen G3, step S4 is performed using the command pattern from the upper level controller 6. Then, the adjustment support system 1 automatically switches to the second motor constraint condition and causes the control device 3 to perform the second drive control.

[0122] In step S5 of final setting, only the second motor constraint condition is finally set in the control device 3, completing adjustment support by the adjustment support system 1. As a result, in the subsequent actual operation based on an operation command from the upper controller 6, the control device 3 controls the driving of the motor M1 so as to satisfy the second motor constraint condition.

[0123] (7) Advantages According to the adjustment support method of the above embodiment, the constraint receiving step receives input of the first motor constraint and the second motor constraint separately. Furthermore, the first adjustment step causes the control device 3 to perform the first drive control so as to satisfy the first motor constraint. This makes it easier to set and manage the first motor constraint and the second motor constraint separately, reducing the possibility of a user error. As a result, the adjustment support method has the advantage of reducing the possibility of a user error during the parameter adjustment process.

[0124] Furthermore, in the adjustment support method, the first motor constraint condition is a more restrictive condition than the second motor constraint condition, so the parameters can be adjusted to be equal to or less than the actual limit values ​​(specification values) of the plant B1. This reduces the risk of the torque or speed of the motor M1 exceeding the actual limit values ​​(specification values) of the plant B1, which could result in a breakdown, such as breaking the moving part 41 of the load 4.

[0125] Furthermore, the adjustment support method automatically switches between the first motor constraint condition and the second motor constraint condition depending on whether it is the first adjustment step or the second adjustment step, thereby further reducing the possibility of user errors occurring.

[0126] In the first adjustment step, the control device 3 performs the first drive control so that the torque of the motor M1 does not exceed the limit value. This provides a more appropriate protection function against the torque or thrust of the motor M1 exceeding the limit value and becoming excessive, further reducing the risk of failure of the motor M1 or the load 4.

[0127] Furthermore, in the first adjustment step, if the speed of the motor M1 exceeds the limit value, the control device 3 is instructed to stop driving the motor M1. This makes it possible to realize a more appropriate protection function against the speed of the motor M1 exceeding the limit value and becoming excessively high, and further reduce the risk of failure of the motor M1 and the load 4.

[0128] (8) Modifications Modifications of the above embodiment are listed below. The modifications described below can be applied in appropriate combinations.

[0129] 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.

[0130] 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 functions of the adjustment support system 1 in the present disclosure are realized by the processor executing a program stored in the memory of the computer system. 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 and 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.

[0131] 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.

[0132] 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.

[0133] In the above embodiment, it is assumed that the first motor constraint condition accepted by the constraint accepting unit 12 is more restrictive than the second motor constraint condition. However, the constraint accepting unit 12 may be configured to accept the more restrictive condition of the accepted first motor constraint condition or the second motor constraint condition as a new first motor constraint condition. For example, if the accepted second motor constraint condition is more restrictive than the first motor constraint condition, the constraint accepting unit 12 may accept the more restrictive second motor constraint condition as a new first constraint condition. In other words, in the constraint accepting step of the adjustment support method in the above embodiment, the more restrictive condition of the accepted first motor constraint condition or the second motor constraint condition may be accepted as a new first motor constraint condition. This allows adjustment to be performed within the two limit values ​​of the first motor constraint condition and the second motor constraint condition, thereby reducing the risk of failure.

[0134] In the above embodiment, the constraint receiving unit 12 may read information previously saved by the user on the main setting screen G1 and an evaluation screen (not shown) on the main setting screen G1 and receive it as the first motor constraint condition.

[0135] In this way, even if the device has actual limit values ​​that are different from those used during previous adjustments, by reading the conditions used during adjustment, adjustments can be made under the same conditions as those used during previous adjustments, within the range where there is no risk of failure of the motor M1 or the load 4.

[0136] In the above embodiment, the constraint receiving unit 12 may be configured to further receive input of a load constraint condition related to a state quantity of the load 4 that may change due to driving of the motor M1. In other words, the constraint receiving step of the adjustment support method in the above embodiment may further receive input of a load constraint condition related to a state quantity of the load 4 that may change due to driving of the motor M1. In the constraint receiving step, input of a first load constraint condition applied to the first drive control and a second load constraint condition applied to the second drive control may be separately received as the load constraint condition.

[0137] For example, the state quantity of the load 4 may be the thrust, speed, or amount of movement of the movable part 41, or the amount of torsion between the motor and the load (the difference between the motor position and the load position), etc.

[0138] In the first adjustment step, the control device 3 may further be caused to perform a first drive control so as to satisfy the first load constraint condition accepted in the constraint acceptance step.

[0139] The first load constraint condition may include, for example, a condition that the speed of the movable part 41 is equal to or less than an adjustment speed limit value of the movable part 41. The adjustment speed limit value of the movable part 41 may be input on the detailed setting screen G2. The second load constraint condition may include, for example, a condition that the speed of the movable part 41 is equal to or less than an operation speed limit value (specification value) of the movable part 41. The operation speed limit value of the movable part 41 may be input on the specification value setting screen.

[0140] In this way, not only the motor constraint conditions but also the first and second load constraint conditions are separately input, which further reduces the possibility of user errors.

[0141] (Summary) The above-described embodiments and the like disclose the following aspects.

[0142] The adjustment support method according to a first aspect is an adjustment support method for an adjustment support system (1) that supports adjustment of a control device (3) that controls the drive of a motor (M1) connected to a load (4). The control device (3) performs a first drive control for testing, which controls the drive of the motor (M1) based on an operation command from the adjustment support system (1), and a second drive control for actual operation, which controls the drive of the motor (M1) based on an operation command from an external device (host controller 6) different from the adjustment support system (1). The adjustment support method includes a constraint acceptance step and a first adjustment step. The constraint acceptance step accepts input of motor constraint conditions related to at least one of the torque or thrust of the motor (M1) and the speed of the motor (M1). The first adjustment step causes the control device (3) to perform the first drive control in order to adjust one or more parameters set for the control device (3). The constraint acceptance step separately accepts input of a first motor constraint condition applied to the first drive control and a second motor constraint condition applied to the second drive control as motor constraint conditions. In the first adjustment step, the control device (3) is caused to perform first drive control so as to satisfy the first motor constraint condition accepted in the constraint acceptance step.

[0143] According to the above aspect, there is an advantage that the possibility of a user making an operational error during the parameter adjustment process can be reduced.

[0144] An adjustment assistance method according to a second aspect is the method of the first aspect, wherein the first motor constraint condition is a more restrictive condition than the second motor constraint condition.

[0145] According to the above aspect, it is possible to reduce the risk of failure of the motor (M1) and the load (4) during the parameter adjustment process.

[0146] In the adjustment support method according to the third aspect, in the first aspect, the constraint acceptance step accepts the more restrictive of the accepted first motor constraint condition and second motor constraint condition as a new first motor constraint condition.

[0147] According to the above aspect, it is possible to reduce the risk of failure of the motor (M1) and the load (4) during the parameter adjustment process.

[0148] The adjustment assistance method according to the fourth aspect is the same as the second or third aspect in that a previously saved first motor constraint condition is read out and newly accepted as the first motor constraint condition.

[0149] According to the above aspect, even when adjusting another device whose actual limit value is different from that at the time of the previous adjustment, the risk of failure of the motor (M1) or the load (4) can be further reduced.

[0150] The adjustment support method according to a fifth aspect is the same as the first aspect, further including a second adjustment step of causing the control device (3) to perform second drive control so as to satisfy the second motor constraint condition accepted in the constraint acceptance step. The adjustment support method automatically switches between the first motor constraint condition and the second motor constraint condition depending on whether the adjustment support method is the first adjustment step or the second adjustment step.

[0151] According to the above aspect, the first motor constraint condition and the second motor constraint condition are automatically switched over, which further reduces the possibility of a user making an operational error.

[0152] Regarding the adjustment assistance method according to the sixth aspect, in the second aspect, the second adjustment step is performed after the first adjustment step.

[0153] According to the above aspect, for example, when the second adjustment step is performed after operational safety has been confirmed by the first adjustment step, the first motor constraint condition is automatically switched to the second motor constraint condition, thereby further reducing the possibility of a user making an operational error.

[0154] In the seventh aspect of the adjustment assistance method, in any one of the first to third aspects, the first motor constraint condition includes at least a condition that the torque or thrust of the motor (M1) is equal to or less than a limit value. In the first adjustment step, the control device (3) is caused to perform a first drive control so that the torque or thrust of the motor (M1) does not exceed the limit value.

[0155] According to the above aspect, a more appropriate protection function can be achieved against the torque or thrust of the motor (M1) exceeding the limit value and becoming excessive, and the risk of failure of the motor (M1) or the load (4) can be further reduced.

[0156] In the adjustment support method according to the eighth aspect, in any one of the first to fourth aspects, the first motor constraint condition includes at least a condition that the speed of the motor (M1) is equal to or less than a limit value. In the first adjustment step, if the speed of the motor (M1) exceeds the limit value, the control device (3) is caused to stop driving the motor (M1).

[0157] According to the above aspect, a more appropriate protection function can be realized against the speed of the motor (M1) exceeding the limit value and becoming excessive, and the risk of failure of the motor (M1) and the load (4) can be further reduced.

[0158] Regarding the adjustment support method according to the ninth aspect, in any one of the first to fifth aspects, the constraint receiving step further receives input of load constraint conditions related to state quantities of the load (4) that may change due to driving of the motor (M1). The constraint receiving step separately receives input of a first load constraint condition applied to the first drive control and a second load constraint condition applied to the second drive control as load constraint conditions. The first adjustment step further causes the control device (3) to perform first drive control so as to satisfy the first load constraint condition received in the constraint receiving step. The first load constraint condition is a condition that is more restrictive than the second load constraint condition.

[0159] According to the above aspect, not only the motor constraint conditions but also the load constraint conditions, the first load constraint condition and the second load constraint condition are separately input, which further reduces the possibility of a user making an operational error.

[0160] A program according to a tenth aspect is a program for causing one or more processors to execute the adjustment support method according to any one of the first to sixth aspects.

[0161] According to the above aspect, it is possible to realize a function that can reduce the possibility of a user making an operational error during the parameter adjustment process.

[0162] An adjustment support system (1) according to an eleventh aspect supports adjustment of a control device (3) that controls the drive of a motor (M1) connected to a load (4). The control device (3) performs a first drive control for testing, which controls the drive of the motor (M1) based on an operation command from the adjustment support system (1), and a second drive control for actual operation, which controls the drive of the motor (M1) based on an operation command from an external device (host controller 6) different from the adjustment support system (1). The adjustment support system (1) includes a constraint receiving unit (12) and an adjustment unit (11). The constraint receiving unit (12) receives input of motor constraint conditions related to at least one of the torque or thrust of the motor (M1) and the speed of the motor (M1). The adjustment unit (11) causes the control device (3) to perform the first drive control in order to adjust one or more parameters set for the control device (3). The constraint receiving unit (12) separately receives input of a first motor constraint condition to be applied to the first drive control and a second motor constraint condition to be applied to the second drive control as motor constraint conditions. The adjustment unit (11) causes the control device (3) to perform the first drive control so as to satisfy the first motor constraint condition received by the constraint receiving unit (12).

[0163] According to the above aspect, it is possible to provide an adjustment support system (1) that can reduce the possibility of a user making an operational error during the parameter adjustment process.

[0164] The configurations according to the second to ninth aspects are not essential for the adjustment support method according to the first aspect, and may be omitted as appropriate.

[0165] REFERENCE SIGNS LIST 1 Adjustment support system 11 Adjustment unit 12 Constraint reception unit 3 Control device 4 Load 6 Upper controller (external device) M1 Motor

Claims

1. An adjustment support method for an adjustment support system that supports adjustment of a control device that controls the drive of a motor connected to a load, wherein the control device performs a first drive control for testing that controls the drive of the motor based on an operation command from the adjustment support system, and a second drive control for actual operation that controls the drive of the motor based on an operation command from an external device different from the adjustment support system, the adjustment support method comprising: a constraint receiving step of receiving input of motor constraint conditions related to at least one of the torque or thrust of the motor and the speed of the motor; and a first adjustment step of causing the control device to perform the first drive control in order to adjust one or more parameters set for the control device, wherein the constraint receiving step separately receives input of a first motor constraint condition to be applied to the first drive control and a second motor constraint condition to be applied to the second drive control as the motor constraint conditions, and the first adjustment step causes the control device to perform the first drive control so as to satisfy the first motor constraint condition received in the constraint receiving step.

2. The adjustment assistance method according to claim 1, wherein the first motor constraint condition is a more restrictive condition than the second motor constraint condition.

3. The adjustment support method according to claim 1, wherein in the constraint acceptance step, the more restrictive condition of the accepted first motor constraint condition and the accepted second motor constraint condition is accepted as the first motor constraint condition.

4. The adjustment assistance method according to claim 2 or 3, wherein in the constraint acceptance step, the first motor constraint condition that was previously saved is read out and newly accepted as the first motor constraint condition.

5. The adjustment support method according to claim 1, further comprising a second adjustment step of causing the control device to perform the second drive control so as to satisfy the second motor constraint condition accepted in the constraint acceptance step, and automatically switching between the first motor constraint condition and the second motor constraint condition depending on whether the adjustment step is the first adjustment step or the second adjustment step.

6. The adjustment support method according to claim 5, wherein the second adjustment step is performed after the first adjustment step.

7. An adjustment assistance method as described in claim 1, wherein the first motor constraint condition includes at least a condition that the torque or thrust of the motor is equal to or less than a limit value, and in the first adjustment step, the control device is caused to perform the first drive control so that the torque or thrust of the motor does not exceed the limit value.

8. The adjustment support method according to claim 1, wherein the first motor constraint condition includes at least a condition that the speed of the motor is equal to or less than a limit value, and the first adjustment step instructs the control device to stop driving the motor if the speed of the motor exceeds the limit value.

9. The adjustment support method according to claim 1, wherein the constraint acceptance step further accepts input of load constraint conditions relating to state quantities of the load that may change due to driving of the motor, the constraint acceptance step separately accepts input of a first load constraint condition to be applied to the first drive control and a second load constraint condition to be applied to the second drive control as the load constraint conditions, and the first adjustment step further causes the control device to perform the first drive control so as to satisfy the first load constraint condition accepted in the constraint acceptance step.

10. A program for causing one or more processors to execute the adjustment support method according to any one of claims 1 to 9.

11. An adjustment support system that supports adjustment of a control device that controls the drive of a motor connected to a load, wherein the control device performs a first drive control for testing that controls the drive of the motor based on an operation command from the adjustment support system, and a second drive control for actual operation that controls the drive of the motor based on an operation command from an external device different from the adjustment support system, the adjustment support system comprising: a constraint receiving unit that receives input of motor constraint conditions related to at least one of the torque or thrust of the motor and the speed of the motor; and an adjustment unit that causes the control device to perform the first drive control in order to adjust one or more parameters that are set for the control device, wherein the constraint receiving unit separately receives input of a first motor constraint condition to be applied to the first drive control and a second motor constraint condition to be applied to the second drive control as the motor constraint conditions, and the adjustment unit causes the control device to perform the first drive control so as to satisfy the first motor constraint condition received by the constraint receiving unit.

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