Adjustment support method, program, and adjustment support system

Abstract

This adjustment support method is for an adjustment support system (1). The adjustment support system (1) provides support for adjustment of a control device (3). The control device (3) controls driving of a motor (M1) connected to a load (4). The control device (3) controls driving of the motor (M1) on the basis of operation commands from the adjustment support system (1). The adjustment support method has an initial setting step and an output step. In the initial setting step, a set value is set that includes at least a first operation range of the motor (M1) or the load (4). In the output step, an operation command to move the load (4) within a second operation range, which is further inside the first operation range set in the initial setting step, is output to the control device (3).

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 sets the motor's operating range and measures load characteristics. The operating range set in Step 2 remains valid for the following steps. Step 3 adjusts the stiffness setting function. Step 3 performs a trial run in conjunction with Step 2. Step 4 measures the command response. In Step 4, the user can select and execute either a trial run using the command pattern determined in Step 2 or an operation based on a command output from a higher-level controller. Step 5 performs final settings.

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

[0004] In steps 2 to 4 of the servo adjustment method described in Patent Document 1, various parameters are automatically adjusted by actually driving the motor to operate the moving part (drive part) of the load within the operating range set by the user in step 2. Depending on the parameter settings during automatic adjustment, there is a risk that operation beyond the target stop position (overshoot) may occur during the load operation process, causing the moving part of the load to exceed the operating range set by the user, collide with the edge of the plant machinery, and cause damage to the plant including the load.

[0005] The present disclosure provides an adjustment support method, a program, and an adjustment support system that can reduce the risk of plant failure during the process of operating a load.

[0006] An adjustment support method according to one aspect of the present disclosure is an adjustment support method for an adjustment support system. The adjustment support system supports adjustment of a control device. The control device controls driving of a motor connected to a load. The control device controls driving of the motor based on an operation command from the adjustment support system. The adjustment support method includes an initial setting step and an output step. In the initial setting step, a setting value including at least a first operating range of the motor or the load is set. In the output step, the operation command for moving the load within a second operating range that is inside the first operating range set in the initial setting step is output to the control device.

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

[0008] An adjustment support system according to one aspect of the present disclosure supports adjustment of a control device. The control device controls the drive of a motor connected to a load. The control device controls the drive of the motor based on an operation command from the adjustment support system. The adjustment support system includes a setting reception unit and an output unit. The setting reception unit receives a setting value that includes at least a first operating range of the motor or the load. The output unit outputs the operation command to the control device to move the load within a second operating range that is inside the first operating range received as the setting value by the setting reception unit.

[0009] The adjustment support method, program, and adjustment support system according to one aspect of the present disclosure have the advantage of being able to reduce the risk of plant failure during the process of operating a load.

[0010] 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 operation commands in the adjustment support system. FIG. 7 is a flowchart related to the operation of the adjustment support system.

[0011] Hereinafter, an adjustment support method, a program, and an adjustment support system according to embodiments and modifications will be described 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.

[0012] 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.

[0013] (Summary) The adjustment assistance method according to this embodiment is an adjustment assistance method for an adjustment assistance system 1 (see FIG. 1 ) that assists in adjustment related to a control device 3 that controls the drive of a motor M1 connected to a load 4. In other words, the adjustment assistance method is an adjustment assistance method that assists in adjustment related to a drive system 2 (see FIG. 1 ).

[0014] In this embodiment, the function of the control device 3 is provided in a servo amplifier A1 (see FIG. 1) that controls the drive of a motor M1 (servo motor). The control device 3 controls the drive of the motor M1 based on an operation command from the adjustment support system 1.

[0015] Here, a user of the drive system 2 performs 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. For example, the user uses 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.

[0016] 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.

[0017] The various parameters include values ​​related to the device characteristics (i.e., the characteristics of plant B1 (see Figure 1)) (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 a filter such as a notch is used and its parameter value), and settings related to feedforward control of the speed of operation (parameter value of a second-order lag filter for a command, whether or not a vibration suppression filter is used and its parameter value).

[0018] In the automatic adjustment by the adjustment support system 1, the motor M1 is actually driven to operate the movable part 41 (drive part) of the load 4, so the user needs to set the operating range of the motor M1 or the load to avoid the risk of failure of the plant B1. However, during the automatic adjustment, the various parameters described above can be set in any way. Therefore, during the process of automatic adjustment of the motor drive device, depending on the parameter settings, there is a risk of failure, such as overshoot occurring, causing the movable part of the load to collide with the mechanical end of the plant B1 and destroying the plant B1 including the load.

[0019] Therefore, the adjustment support method according to this embodiment includes an initial setting step and an output step.

[0020] In the initial setting step, a set value that includes at least the first operating range R1 of the motor M1 or the load 4 is set.

[0021] In the output step, an operation command is output to the control device 3 to move the load 4 within a second operation range R2 that is inside the first operation range R1 set in the initial setting step.

[0022] According to the adjustment support method of this embodiment, the load 4 is operated in the second operating range R2 that is inside the first operating range R1, and therefore, it is possible to reduce the possibility that the load 4 will move beyond the first operating range R1 set by the user when an overshoot occurs, etc. This reduces the impact when the movable part 41 of the load 4 collides with the machine end of the plant B1, thereby reducing the risk of failure of the plant B1 including the load 4.

[0023] Moreover, the output step in this embodiment is an adjustment step that is executed to adjust one or more parameters that are set for the control device 3. This makes it possible to reduce the risk of failure of the plant B1 during the adjustment process (automatic adjustment) of the control device 3.

[0024] 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. The program may be recorded on a computer-readable non-transitory recording medium.

[0025] (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.

[0026] 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 perform a final operational check by causing the drive system 2 to perform an 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.

[0027] Hereinafter, the test operation of the drive system 2, which is 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, which is adjusted based on the results obtained from the test operation and is involved in 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."

[0028] For example, the test operation is performed when the drive system 2 is newly installed or relocated in a facility such as a factory, after assembling various devices of the drive system 2. Furthermore, for example, the test operation is performed during regular maintenance of the drive system 2, after confirmation and recovery work is performed when a malfunction occurs in the drive system 2, or after replacing devices or parts of the drive system 2.

[0029] 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).

[0030] 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.

[0031] (2) Drive System The drive system 2 is applied to a mounting machine for semiconductor components, a processing machine for materials, or a conveyor for finished products or semi-finished products in a facility such as a factory.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] The position detector 5 is, for example, 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 movement amount (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, for example, in units of pulses.

[0036] In addition to the position detector 5, the drive system 2 may further include a speed sensor that detects the speed of the motor M1 or the load 4 (movable part 41), an acceleration sensor that detects acceleration, a force sensor that detects thrust (or torque), and a vibration sensor that detects vibration. The force sensor includes, for example, a piezoelectric, magnetostrictive, or strain gauge force sensor. In addition, an external sensor for checking and measuring the operability of the motor M1 or the load 4 may be applied to the drive system 2.

[0037] 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.

[0038] The control device 3 is communicatively connected to the position detector 5 and receives a position detection signal from the position detector 5 .

[0039] 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 position command value of the motor M1 as an operation command from the upper controller 6, and outputs a torque command signal. The current control unit 31 controls the current flowing through the motor in accordance with the torque command signal received from the position / speed control unit 30. As a result, the control device 3 drives the movable part 41 of the load 4 to a predetermined position.

[0040] 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).

[0041] 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).

[0042] The test operation is, 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 the 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 the 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 an excitation signal for measuring frequency characteristics.

[0043] The test operation in this embodiment includes a confirmation operation (step S2 in FIG. 7) corresponding to the confirmation step of the adjustment support method, and an adjustment operation (steps S4 to S6 in FIG. 7) corresponding to the adjustment step (output step) of the adjustment support method. The confirmation operation is an operation for safety confirmation that is performed before the adjustment operation. The adjustment operation is an operation for adjusting one or more parameters that are set for the control device 3.

[0044] In the confirmation operation of this embodiment, the motor M1 is driven to move the load 4 at a speed slower than the maximum speed in the control device 3 (more specifically, a speed equal to or lower than the speed limit value set in the initial setting step, which will be described later) within the entire range of the first operating range R1 set in the initial setting step.

[0045] In the adjustment operation of this embodiment, the load 4 is moved within a second operating range R2 that is inside the first operating range R1 set in the initial setting step.

[0046] Here, the second operating range R2 is narrower than the first operating range R1. Furthermore, both ends of the second operating range R2 are located between both ends of the first operating range R1. That is, the first operating range R1 and the second operating range R2 in this embodiment have different maximum and minimum positions. In other words, the maximum and minimum positions are different between the confirmation operation and the adjustment operation. In this embodiment, the size (length) of the second operating range R2 is 80% of the size (length) of the first operating range R1. However, the ratio between the size of the first operating range R1 and the size of the second operating range R2 may be set as appropriate.

[0047] In addition, in this embodiment, the center C1 of the first operating range R1 coincides with the center C1 of the second operating range R2, which reduces the possibility that the load 4 will move beyond the first operating range R1 when an overshoot occurs at either end of the first operating range R1, thereby reducing the risk of failure of the plant B1.

[0048] The "current position" is, for example, 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, as shown in FIG. 4. In FIG. 4, the arrow direction of the axis X1 is the positive direction of the X axis, and the opposite direction is the negative direction of the X axis.

[0049] In the case of the confirmation operation, the above-mentioned "maximum position" corresponds to the first position P1 in Fig. 4, and the above-mentioned "minimum position" corresponds to the second position P2 in Fig. 4. From the "maximum position" to the "minimum position," i.e., from the first position P1 to the second position P2, is the first operation range R1. As will be described later, the user can set the first operation range R1 on the main setting screen G1 via the communication terminal 7.

[0050] In the case of the adjustment operation, the above-mentioned "maximum position" corresponds to the third position P3 in Fig. 4, and the above-mentioned "minimum position" corresponds to the fourth position P4 in Fig. 4. From the "maximum position" to the "minimum position", that is, from the third position P3 to the fourth position P4, is the second operation range R2.

[0051] In the test operation, for example, if the initial position P0 is located near either the maximum position or the minimum position, the movable part 41 is driven to move toward the closer position first. If the initial position P0 is located at an intermediate position between the maximum position and the minimum position, the movable part 41 is driven to move toward the positive direction (toward the first position P1) first. In other words, if the initial position P0 is located at an intermediate position between the maximum position and the minimum position, the movable part 41 is driven to move toward the maximum position first.

[0052] The movement of the movable part 41 during the checking 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 maximum position (first position P1), moves at a constant speed, and then decelerates as it approaches the maximum position. When the movable part 41 reaches the maximum position, it pauses there (see arrow AR1 in FIG. 4 ). From there, the movable part 41 accelerates in the reverse direction, i.e., in the negative direction, moves at a constant speed, passes the initial position P0, and decelerates as it approaches the minimum position (second position P2). When the movable part 41 reaches the minimum position, it stops there (see arrow AR2 in FIG. 4 ).

[0053] Furthermore, the control device 3 of this embodiment performs a preparatory operation (step S3 in FIG. 7) after the confirmation operation (step S2 in FIG. 7) and before the adjustment operation (step S4 in FIG. 7). In other words, the preparatory operation is performed before the adjustment operation. The preparatory operation is an operation for moving the load 4 to one end (third position P3 or fourth position P4) of the two ends (third position P3 and fourth position P4) of the second operating range R2. The arrow AR3 in FIG. 4 shows an example in which the load 4 moves from the second position P2 to the fourth position P4. In the following, the preparatory operation will be described assuming that the load 4 has moved to the fourth position P4.

[0054] The movement of the movable part 41 during the adjustment operation will be briefly described using the example of "moving toward the positive side first." For example, the movable part 41 first accelerates toward the maximum position (third position P3), moves at a constant speed, and then decelerates as it approaches the maximum position. When the movable part 41 reaches the maximum position, it pauses there. From there, the movable part 41 accelerates in the reverse direction, i.e., in the negative side, moves at a constant speed, passes the initial position P0, and decelerates as it approaches the minimum position (fourth position P4). When the movable part 41 reaches the minimum position, it stops there. This completes one adjustment operation.

[0055] 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 G2 shown in FIG. 6), as will be described later.

[0056] Furthermore, the control device 3 of this embodiment performs a return operation (step S7 in FIG. 7) after the adjustment operation (step S6 in FIG. 7). The return operation is an operation to move the load 4 to the initial position P0. The arrow AR4 in FIG. 4 indicates the movement of the return operation when the movable part 41 of the load 4 is in the fourth position P4 at the end of the adjustment operation.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] In addition, the control device 3 has the 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 operating command (position command) is input from the upper controller 6 or the communication terminal 7, the control device 3 performs filtering, determines a feedforward command for the motor M1, and adds it to the torque command output from the position / speed control unit 30. In the above filtering, the set parameters related to 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. Feedforward control improves the responsiveness of the motor M1.

[0061] 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.

[0062] (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.

[0063] The upper controller 6 is configured using, for example, a programmable logic controller (PLC) or the like, and controls the operation of the drive system 2 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 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 an operation command, i.e., data for specifying a command value (command position).

[0064] (4) Communication Terminal The communication terminal 7 is assumed to be a notebook computer as an example, as shown in Fig. 1. However, the communication terminal 7 may also be a tablet terminal, a desktop personal computer (PC), an industrial PC, or the like.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] The storage unit 73 includes an electrically rewritable nonvolatile semiconductor memory such as a flash memory. The storage unit 73 stores information input on screens such as a main setting screen G1 (described later), a detailed setting screen G2 (see FIGS. 5 and 6 ) related to operation commands, and a specification value setting screen (not shown). The storage unit 73 may be a memory of the processing unit 71.

[0072] (5) Adjustment Support System The configuration of the adjustment support system 1 will now be described in detail.

[0073] 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.

[0074] 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.

[0075] 3B, the adjustment support system 1 includes an adjustment unit 11 and a setting reception unit 12. The functions of these units are implemented in a processing unit 71 of the communication terminal 7.

[0076] The setting reception unit 12 receives user operations and sets adjustment conditions and operating conditions for the drive system 2. The setting reception unit 12 is responsible for executing the initial setting step. Here, the "adjustment conditions" include conditions such as the number of trials of the test operation, 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. Furthermore, the "operating conditions" include setting values ​​related to the test operation. The setting values ​​include at least the operating range of the motor M1 or the load 4. In addition to the operating range of the motor M1 or the load 4, the setting values ​​in this embodiment also include a speed limit value of the motor M1 or the load 4. The speed limit value of the motor M1 or the load 4 is a speed slower than the maximum speed of the control device 3. The maximum speed of the control device 3 is, for example, a specification value (limit value) for the plant B1 described in the specifications of the plant B1. In other words, the maximum speed in the control device 3 is independent of the set value set in the initial setting step, and is determined by the specifications of the plant B1.

[0077] In this embodiment, the least squares estimation function of the load characteristic measurement function, the load characteristic compensation of the load characteristic measurement result, the adaptive filter function, and the oscillation detection function are all valid.

[0078] The setting reception unit 12 is the main body that executes the initial setting step. In this embodiment, the setting reception unit 12 receives user operations on each screen displayed on the display unit 70, and sets adjustment conditions and operating conditions for the drive system 2. Details of each screen displayed on the display unit 70 will be described later.

[0079] The adjustment unit 11 outputs an operation command to drive the motor M1 to the control device 3. The adjustment unit 11 is an example of an output unit. The adjustment unit 11 is an entity that executes the confirmation step and the output step. Here, the output step includes the adjustment step. In other words, the adjustment step is an example of the output step.

[0080] In the confirmation step, the adjustment unit 11 drives the motor M1 at a speed slower than the maximum speed in the control device 3, and outputs to the control device 3 an operation command (first operation command) to move the load 4 over the entire range of the first operation range R1 set in the initial setting step. The "speed slower than the maximum speed in the control device 3" is, for example, a speed that is 10% or less of the maximum speed in the control device 3. However, the extent to which the "speed equal to or less than the maximum speed value in the control device 3" is slower than the maximum speed in the control device 3 may be set as appropriate. This makes it possible to reduce the impact when the load 4 collides with the machine end of the plant B1, even if the operation range input by the user is inappropriate, thereby reducing the risk of failure of the plant B1.

[0081] Furthermore, in the confirmation step, the adjustment unit 11 of this embodiment outputs to the control device 3 an operation command to drive the motor M1 at a speed equal to or less than the speed limit value set in the initial setting step throughout the entire range of the first operating range R1 set in the initial setting step. The "speed equal to or less than the speed limit value" is, for example, a speed equal to or less than 10% of the speed limit value. However, the extent to which the "speed equal to or less than the speed limit value" is slower than the speed limit value may be set as appropriate. This makes it possible to further reduce the impact when the load 4 collides with the machine end of the plant B1, even if the operating range input by the user is inappropriate, thereby further reducing the risk of failure of the plant B1.

[0082] Furthermore, in the confirmation step, if the torque or thrust of the motor M1 exceeds a torque limit value, the adjustment unit 11 of this embodiment outputs an operation command to the control device 3 to stop driving of the motor M1. The torque limit value is, for example, a specification value (limit value) for the plant B1 described in the specifications of the plant B1. This makes it possible to further reduce the risk of failure of the plant B1.

[0083] Furthermore, the adjustment unit 11 of this embodiment executes the confirmation step by changing the settings related to feedback control against disturbances that are set for the control device 3 to predetermined values. That is, the adjustment unit 11 of this embodiment executes the confirmation step by changing the value of the stiffness index that determines the responsiveness to disturbances that is set for the control device 3 to a predetermined value. The predetermined value is, for example, a factory default value. This prevents operation from becoming unstable, and makes it possible to execute the confirmation step more reliably, even if the settings related to feedback control before adjustment are inappropriate.

[0084] Furthermore, the adjustment unit 11 executes an adjustment step (output step) after the confirmation step. In the adjustment step, the adjustment unit 11 outputs an operation command (second operation command) to the control device 3 based on the setting value set in the initial setting step in order to adjust one or more parameters set for the control device 3.

[0085] Furthermore, in the adjustment step (output step), the adjustment unit 11 (output unit) of this embodiment outputs to the control device 3 an operation command to move the load 4 within a second operating range R2 that is inside the first operating range R1 set in the initial setting step. This reduces the possibility that the load 4 will move beyond the first operating range R1, for example, if an overshoot occurs during adjustment, and therefore reduces the risk of failure of the plant B1.

[0086] Furthermore, in this embodiment, when the first operating range R1 set in the initial setting step is inconsistent with the command conditions of the operation command at the end of the confirmation step, the adjustment unit 11 (output unit) outputs an operation command to the control device 3 to stop the drive of the motor M1. "When the command conditions are inconsistent" means, for example, when the movement amount under the command conditions of the operation command is greater than the first operating range R1. This makes it possible to further reduce the risk of failure of the plant B1 in the adjustment step (output step). Note that "at the end of the confirmation step" refers to the time after the end of the confirmation step and before the start of the adjustment step.

[0087] The adjustment support system 1 has a function of displaying a main setting screen G1 (see FIG. 5) and a detailed setting screen G2 (see FIG. 6) related to operation commands on the display unit 70. These screens can be displayed on the display unit 70 as, for example, window screens.

[0088] [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.

[0089] 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.

[0090] 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 G2 shown in FIG.

[0091] 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."

[0092] The input area D3 includes an operation area D31 (shown in the ON state as an example in FIG. 5 ) for switching the motor M1 between an ON state and an OFF state. The input area D3 also includes a "-" operation area D32 that, when pressed, causes the motor M1 to jog in the negative direction at a preset speed, an operation area D33 that, when pressed, moves the motor M1 to the current position "0," and a "+" operation area D34 that, when pressed, causes the motor M1 to jog in the positive direction at a preset speed. 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.

[0093] 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 first operating range R1).

[0094] 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.

[0095] The input area D6 includes a rectangular operation area for issuing a command to display the detailed setting screen G2. When the operation area is pressed, the detailed setting screen G2 shown in FIG.

[0096] The save button E2 is a button for saving the setting information set on the main setting screen G1 or the detailed setting screen G2. When the user presses the save button E2, the setting information is saved in the storage unit 73. When the user presses the read button E1, "automatic adjustment" is performed using previously saved setting information.

[0097] The adjustment start button E3 is a button for issuing a command to start "automatic adjustment." When the user presses the adjustment start button E3, "automatic adjustment" starts. Details of "automatic adjustment" will be described later using the flowchart in FIG. 7.

[0098] [Detailed Settings Screen] The detailed settings screen G2 (see FIG. 6) is displayed on the display unit 70 when the user presses the operation area of ​​the input area D6 on the main settings screen G1.

[0099] The detailed setting screen G2 is a screen for making detailed settings related to operation commands. On the detailed setting screen G2, 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.

[0100] The detailed setting screen G2 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.

[0101] The input fields D92 to D95 are fields for inputting numerical values ​​and other information of the operation commands to be applied in the test operation.

[0102] Specifically, the detailed setting screen G2 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.

[0103] The detailed setting screen G2 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 G2 further includes a selection area D961 for selecting "reciprocating movement," a selection area D962 for selecting "forward movement only," and a selection area D963 for selecting "negative movement only." Note that "reciprocating movement" is preset as the default movement direction, and the user can change the movement direction as appropriate.

[0104] The detailed setting screen G2 also includes an input field D97 for inputting the number of trials [times] as an operation command for the test operation.

[0105] The settings for the main setting screen G1 and the detailed setting screen G2 are performed in step S1 (initial setting) in the flowchart of Fig. 7. The default number of attempts is set to "1", and the user can change the number of attempts as needed.

[0106] (6) Description of Operation The flow of operations in the adjustment support system 1 will be described below with reference to Fig. 7. Fig. 7 is a flowchart relating to operations in the adjustment support system 1. The flowchart shown in Fig. 7 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.

[0107] 7, the adjustment support system 1 first performs initialization (step S1). Step S1 is the initialization step described above. In the initialization step, a set value that includes at least the first operating range R1 of the motor M1 or the load 4 is set.

[0108] Next, the adjustment support system 1 performs a confirmation operation (step S2). Step S2 is the confirmation step described above. In the confirmation step, the motor M1 is driven at a speed slower than the maximum speed of the control device 3, and an operation command is output to the control device 3 to move the load 4 over the entire range of the first operation range R1 set in the initial setting step.

[0109] Next, the adjustment support system 1 performs a preparatory operation (step S3). Step S3 is a preparatory step. In the preparatory step, the load 4 is moved to one end of the second operating range R2. In the subsequent steps, if the movement amount of the operation command is small, good adjustment results may not be obtained. Therefore, by executing the preparatory step, the movement amount can be maximized within the second operating range R2, and good adjustment results can be obtained.

[0110] Next, the adjustment support system 1 measures load characteristics (step S4). 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 S4, the adjustment support system 1 determines a command pattern. Here, the "command pattern" is an operation pattern (movement amount, acceleration / deceleration time, maximum speed, etc.) 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. Step S4 is an example of an adjustment step (output step).

[0111] Next, the adjustment support system 1 performs stiffness measurement (step S5). More specifically, the adjustment support system 1 utilizes an adaptive filter function to perform a test operation using the command pattern determined in step S4, 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 S5, the adjustment support system 1 selects a notch filter according to the current stiffness index. Step S5 is an example of an adjustment step (output step).

[0112] Next, the adjustment support system 1 performs command response measurement (step S6). More specifically, the adjustment support system 1 measures the settling time, the amount of overshoot, the vibration level, etc., and measures the evaluation index. The operation command in step S6 may be an operation command from the adjustment support system 1 (communication terminal 7) or from the upper controller 6. Step S6 is an example of an adjustment step (output step).

[0113] Next, the adjustment support system 1 performs a return operation (step S7). Step S7 is a return step. In the return step, the load 4 is moved to the initial position P0. This reduces the risk of a failure of the plant B1, which may be caused by, for example, the user not noticing that the position of the load 4 is different from the initial position P0.

[0114] Next, the adjustment support system 1 performs final setting (step S8). More specifically, the adjustment support system 1 determines and saves (sets) various parameters based on the evaluation indexes determined in step S6 and the user's desired target values. That is, the various final parameters are set in the control device 3.

[0115] (7) Modifications Modifications of the above embodiment are listed below. The modifications explained below can be applied in appropriate combinations.

[0116] 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.

[0117] 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.

[0118] 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.

[0119] 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.

[0120] In the above embodiment, the motor M1 is a rotary servo motor. However, the motor M1 is not limited to a rotary servo motor and may be a linear servo motor. Furthermore, the number of motors M1 is not limited to one. Furthermore, 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.

[0121] In the above embodiment, the output step is an adjustment step executed to adjust one or more parameters set for the control device 3. However, the output step may also be a measurement step executed to measure the frequency characteristics of the motor M1, the load 4, or a servo control system including the motor M1 or the load 4 and the control device 3. In other words, the adjustment unit 11 may be a frequency characteristic measurement unit. The frequency characteristic measurement unit, for example, inputs a vibration signal including multiple frequency components to the control device 3 and calculates the frequency characteristics from the relationship with a status signal output in response to the vibration signal. Here, the vibration signal to the control device 3 is input as a position command, a speed command, or a torque command. The output status signal is, for example, an operating quantity acquired by the position detector 5 (encoder) of the motor M1. However, as long as the state quantity of the motor M1 or the load 4 (movable part 41 thereof) can be measured and output as a status signal, the output status signal does not necessarily have to be limited to the status signal output from the position detector 5. For example, the output status signal may be output from a speed sensor that detects speed, an acceleration sensor that detects acceleration, a force sensor that detects thrust (or torque), a vibration sensor that detects vibration, or the like. The excitation signal and the status signal are selected appropriately depending on the system that the user desires to acquire. The frequency characteristic measurement unit, for example, performs a fast Fourier transform (FFT) on both the torque command and the speed of the motor M1 to calculate the frequency dependence of the gain and phase. The speed of the motor M1 can be calculated, for example, by the time derivative of the position of the motor M1. The frequency characteristic measurement unit, for example, uses a white noise signal, a multisine signal, or a signal including these as the torque command. The white noise signal is a superposition of multiple frequency components with random amplitude and phase. The multisine signal is a signal obtained by performing an inverse fast Fourier transform (IFFT) on a spectrum with constant amplitude and random phase, and is a superposition of multiple frequency components. This reduces the risk of failure of the plant B1 during the process of measuring the frequency characteristics.

[0122] In the above embodiment, the adjustment step illustrates a case in which the load 4 is moved only in response to an operation command from the adjustment support system 1 (communication terminal 7). In the adjustment step, for example, when the load 4 is moved in response to an operation command from the adjustment support system 1 (communication terminal 7) (e.g., steps S4 to S5), the load 4 is moved within the second operation range R2, and when the load 4 is moved in response to an operation command from the upper controller 6 (e.g., step S6), the load 4 is moved within the first operation range R1. The first operation range R1 and the second operation range R2 may be switched during the adjustment step depending on the command conditions. This allows the adjustment step to be reliably executed even if a command condition that is equal to or smaller than the first operation range R1 and exceeds the second operation range R2 is input.

[0123] In the above embodiment, a case where the first operating range R1 set in the initial setting step and the command conditions of the operation command are inconsistent is exemplified by a case where the movement amount under the command conditions of the operation command is greater than the first operating range R1. However, as described above, when the load 4 is deformed so as to move within the first operating range R1 in the adjustment step, a case where the movement amount under the command conditions of the operation command is greater than the first operating range R1 can be exemplified as a case where the command conditions are inconsistent.

[0124] (Summary) As is clear from the above-described embodiments and modifications, the adjustment support method according to the first aspect is an adjustment support method for an adjustment support system (1). The adjustment support system (1) supports adjustment of a control device (3). The control device (3) controls the drive of a motor (M1) connected to a load (4). The control device (3) controls the drive of the motor (M1) based on an operation command from the adjustment support system (1). The adjustment support method includes an initial setting step and an output step. In the initial setting step, a set value is set that includes at least a first operation range (R1) of the motor (M1) or the load (4). In the output step, an operation command is output to the control device (3) to move the load (4) within a second operation range (R2) that is inside the first operation range (R1) set in the initial setting step.

[0125] According to this aspect, the risk of failure of the motor (M1) or the load (4) can be reduced.

[0126] In the adjustment support method according to the second aspect, in the first aspect, the center (C1) of the first operating range (R1) and the center (C1) of the second operating range (R2) coincide with each other.

[0127] According to this aspect, the risk of failure of the motor (M1) or the load (4) can be further reduced.

[0128] In the adjustment support method according to the third aspect, in an initial setting step, a set value including at least a first operating range (R1) and a command condition of an operation command for moving a load (4) is set, and in an output step, the first operating range (R1) and a second operating range (R2) are switched and executed according to the command condition of the operation command set in the initial setting step.

[0129] According to this aspect, even if a command condition that exceeds the second operating range (R2) is set, the output step can be executed.

[0130] The adjustment assistance method according to the fourth aspect is the same as that of the first or second aspect, and further includes a preparation step. The preparation step is performed before the output step. In the preparation step, the load (4) is moved to one end of either the first operating range (R1) or the second operating range (R2).

[0131] According to this aspect, the amount of movement can be maximized within the set operating range, and good results can be obtained.

[0132] The adjustment assistance method according to a fifth aspect is the method according to any one of the first to fourth aspects, further comprising a return step, which is executed after the output step, in which the load (4) is moved to an initial position.

[0133] According to this aspect, it is possible to reduce the risk of failure of the motor (M1) or the load (4), for example, due to the user not noticing that the position of the load (4) is different from its initial position.

[0134] In the adjustment support method according to the sixth aspect, in any of the first to fifth aspects, the output step is an adjustment step performed to adjust one or more parameters set for the control device (3).

[0135] According to this aspect, it is possible to reduce the risk of failure of the motor (M1) or the load (4) during the adjustment process of the control device (3).

[0136] In the adjustment support method according to the seventh aspect, in any of the first to fifth aspects, the output step is a measurement step executed to measure the frequency characteristics of either the motor (M1), the load (4), or a servo control system including the motor (M1) or the load (4) and the control device (3).

[0137] According to this aspect, it is possible to reduce the risk of failure of the motor (M1) or the load (4) during the process of measuring the frequency characteristics.

[0138] The configurations other than the first aspect are not essential for the adjustment support method and can be omitted as appropriate.

[0139] A program according to an eighth aspect is a program for causing one or more processors to execute the adjustment support method according to any one of the first to seventh aspects.

[0140] According to this aspect, the risk of failure of the motor (M1) or the load (4) can be reduced.

[0141] An adjustment support system (1) according to a ninth aspect supports adjustment of a control device (3). The control device (3) controls the drive of a motor (M1) connected to a load (4). The control device (3) controls the drive of the motor (M1) based on an operation command from the adjustment support system (1). The adjustment support system (1) includes a setting reception unit (12) and an output unit (adjustment unit 11). The setting reception unit (12) receives a setting value that includes at least a first operating range (R1) of the motor (M1) or the load (4). The output unit outputs an operation command to the control device (3) to move the load (4) within a second operating range (R2) that is inside the first operating range (R1) received as the setting value by the setting reception unit (12).

[0142] According to this aspect, the risk of failure of the motor (M1) or the load (4) can be reduced.

[0143] REFERENCE SIGNS LIST 1 Adjustment support system 11 Adjustment unit (output unit) 12 Setting reception unit 3 Control device 4 Load M1 Motor R1 First operating range R2 Second operating range

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 controls the drive of the motor based on an operation command from the adjustment support system, and the adjustment support method has an initial setting step of setting a setting value that includes at least a first operation range of the motor or the load, and an output step of outputting to the control device the operation command that moves the load within a second operation range that is inside the first operation range set in the initial setting step.

2. The adjustment assistance method according to claim 1, wherein the center of the first motion range and the center of the second motion range coincide with each other.

3. The adjustment support method according to claim 1, wherein the initial setting step sets the setting value including at least the first operating range and a command condition of the operating command to move the load, and the output step switches between the first operating range and the second operating range according to the command condition.

4. The adjustment assistance method according to claim 1, further comprising a preparation step, which is executed before the output step, of moving the load to one of both ends of the second operating range.

5. The adjustment assistance method according to claim 1, further comprising a return step, which is executed after the output step, and which moves the load to an initial position.

6. The adjustment support method according to claim 1, wherein the output step is an adjustment step executed to adjust one or more parameters set for the control device.

7. The adjustment support method according to claim 1, wherein the output step is a measurement step executed to measure the frequency characteristics of any of the motor, the load, and a servo control system including the motor or the load and the control device.

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

9. 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 controls the drive of the motor based on an operation command from the adjustment support system, and the adjustment support system comprises: a setting reception unit that receives a setting value that includes at least a first operation range of the motor or the load; and an output unit that outputs the operation command to the control device to move the load within a second operation range that is inside the first operation range received as the setting value by the setting reception unit.

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