Tuning assistance device, tuning assistance method, and program

Abstract

Provided is technology whereby a condition for tuning a parameter according to the level of a user can be limited in a tuning assistance device for tuning a parameter of a motor control device. A tuning assistance device 10 comprises: a user information acquisition unit 11 that acquires a currently authenticated user level; a tuning condition setting unit 12 that sets a tuning condition for a parameter for each predetermined user level; and a tuning condition limiting unit 13 that limits the tuning condition of a parameter on the basis of information from the user information acquisition unit 11 and the tuning condition setting unit 12.

Description

Adjustment support device, adjustment support method, and program

[0001] The present disclosure relates to an adjustment assistance device, an adjustment assistance method, and a program.

[0002] Conventionally, motor control devices have been known that have a function for adjusting parameters such as filter coefficients for controlling a motor. Techniques of this type are described in Patent Documents 1 and 2.

[0003] Patent Document 1 describes an auto-tuning method for a servo amplifier that is equipped with a position command filter that smooths a position command input from outside, feeds back the position of a motor, and controls the position of the motor based on the position command, and describes the method comprising the steps of: estimating an inertia ratio for the motor based on the response of the motor when the motor is driven at a first speed; and setting an initial value for the control parameter of the position command filter based on the inertia ratio.

[0004] Patent Document 2 describes a numerical control device that processes a workpiece according to instructions, which is equipped with a security level designation means that designates the operator's level of confidentiality protection regarding the handling of the processing program, an operation feasibility information setting and storage means that sets and stores whether or not an operation is possible according to the security level designated by the security level designation means, and an operation feasibility determination means that determines whether or not an operation can be performed based on the operator's security level designated by the security level designation means and the operation feasibility information stored by the operation feasibility information setting and storage means.

[0005] JP 2023-039601 A JP 2009-086964 A

[0006] In the field of machine tools and industrial machinery, there is an increasing demand for adjusting control parameters such as the gain and filter of a motor control device according to the machining conditions of the tool, workpiece, etc., so as to enable higher precision and higher efficiency machining, and devices and applications that enable automatic adjustment of parameters are required not only by machine manufacturers but also by users who use the machines. On the other hand, some machine manufacturers are unhappy with allowing users to freely adjust parameters related to machine behavior from the standpoint of maintainability and confidentiality, and there is also the issue that it is not desirable for control parameters to be freely adjusted.

[0007] The present disclosure has been made in consideration of the above-mentioned problems, and aims to provide a technology in an adjustment support device that adjusts parameters of a motor control device, which is capable of limiting parameter adjustment conditions according to the user's level.

[0008] The present disclosure relates to an adjustment support device that adjusts parameters related to the behavior of a machine in a control device that controls a motor that drives the machine, and that includes a user information acquisition unit that acquires a currently authenticated user level, an adjustment condition setting unit that sets adjustment conditions for the parameters for each predetermined user level, and an adjustment condition restriction unit that restricts the adjustment conditions for the parameters based on information from the user information acquisition unit and the adjustment condition setting unit.

[0009] According to the present disclosure, it is possible to provide a technique that can limit adjustment conditions according to the level of a user in an adjustment assistance device that adjusts parameters of a motor control device.

[0010] 1 is a functional block diagram of a motor drive system to which an adjustment support device according to a first embodiment is applied; FIG. 2 is a functional block diagram of the adjustment support device according to the first embodiment; FIG. 3 is a table showing an example of restrictions on adjustment conditions set for each user level; FIG. 4 is a diagram showing an example of a setting screen for adjustment items for user level 3; FIG. 5 is a diagram showing an example of a setting screen for adjustment axes for user level 3; FIG. 6 is a diagram showing an example of a setting screen for adjustment items for user level 1; FIG. 7 is a diagram showing an example of a setting screen for adjustment axes for user level 1; FIG. 8 is a functional block diagram of an adjustment support device according to a second embodiment; FIG. 9 is a graph showing the time change in response speed which differs depending on the damping characteristics of a speed loop of a motor;

[0011] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In the description of the second and subsequent embodiments, the same reference numerals will be used to designate components common to the first and second embodiments, and the description thereof will be omitted as appropriate.

[0012] 1 is a functional block diagram of a motor drive system 100 to which an adjustment support device 10 according to a first embodiment is applied. As shown in FIG. 1, the motor drive system 100 includes a motor control device 1, an acceleration / deceleration control unit 20, a feedforward unit 21, a position control unit 22, a speed control unit 23, a current control unit 24, a motor 30, a ball screw mechanism 31, and the adjustment support device 10.

[0013] The motor control device 1 controls the drive of a motor 30 of a machine tool or industrial machine. A user can log in to the motor control device 1 to set processing conditions and change adjustment conditions.

[0014] The motor control device 1 is configured using a computer having memories such as ROM (read only memory) and RAM (random access memory), a CPU (central processing unit), a storage device such as a hard disk or SSD (solid state drive), and a communication control unit, all connected to each other via a bus.

[0015] The motor control device 1 includes a display unit 2 that displays processing conditions such as parameters related to the behavior of the motor 30. The display unit 2 is configured with a display screen such as a liquid crystal display or a touch panel. The display unit 2 may be integrated with the motor control device 1 or may be configured separately from the motor control device 1.

[0016] The acceleration / deceleration control unit 20 is an adjustment device that adjusts acceleration / deceleration based on a signal input from the motor control device 1. An acceleration / deceleration time constant is set in the acceleration / deceleration control unit 20 as a parameter for controlling the motor 30. The acceleration / deceleration control unit 20 controls acceleration / deceleration in response to the signal input from the motor control device 1 based on the acceleration / deceleration time constant, and outputs control commands to the feedforward unit 21 and the position control unit 22.

[0017] The feedforward unit 21 is an adjustment device that outputs a position feedforward term and a velocity feedforward term based on the command output from the acceleration / deceleration control unit 20. The position feedforward term is, for example, a value obtained by differentiating the position command, multiplying the result by a constant α, and then multiplying the result by a position feedforward coefficient. The velocity feedforward term is, for example, a value obtained by differentiating the position command twice, multiplying the result by a constant β, and then multiplying the result by the velocity feedforward coefficient.

[0018] The position control unit 22 generates a position command based on the signal input from the acceleration / deceleration control unit 20, and outputs the position command to the speed control unit 23. The signal input from the acceleration / deceleration control unit 20 has a position feedback based on position detection by an encoder or the like of the feed axis motor 30 subtracted from it, and the position control unit 22 outputs a position deviation to the speed control unit 23.

[0019] The speed control unit 23 is an adjustment device that generates a speed command based on the signal input from the position control unit 22 and outputs the speed command to the current control unit 24. The signal input from the position control unit 22 to the speed control unit 23 has a position feedforward term from the feedforward unit 21 superimposed on it, and the speed control unit 23 outputs a speed command that reflects the position feedforward term to the current control unit 24.

[0020] The current control unit 24 generates a current command based on the signal input from the speed control unit 23, and outputs the current command to the motor 30. The signal input from the speed control unit 23 to the current control unit 24 has a speed feedforward term from the feedforward unit 21 superimposed on it, and the current control unit 24 outputs a current command to the motor 30 that reflects the speed feedforward term.

[0021] The motor 30 drives a ball screw mechanism 31 used to machine the workpiece W. The driving of the motor 30 causes the ball screw mechanism 31 to operate, and the workpiece W moves.

[0022] The adjustment support device 10 automatically adjusts parameters related to the behavior of a machine in the motor control device 1 that controls the motor 30 that drives the machine. Furthermore, the adjustment support device 10 of this embodiment sets a range that limits the adjustment conditions of the parameters depending on the user level that logs in to the motor control device 1.

[0023] The adjustment support device 10 is configured using a computer having, for example, memory such as ROM (read only memory) and RAM (random access memory), a processor such as a CPU (central processing unit), a storage device such as a hard disk or SSD (solid state drive), and a communication control unit, all connected to each other via a bus.

[0024] Next, the functional configuration of the adjustment support device 10 will be described with reference to Fig. 2. Fig. 2 is a functional block diagram of the adjustment support device 10 according to the first embodiment.

[0025] As shown in FIG. 2, the adjustment support device 10 includes a user information acquisition unit 11, an adjustment condition setting unit 12, an adjustment condition restriction unit 13, and a display change unit 14 as functional units that operate on a processor.

[0026] The user information acquisition unit 11 is a user information acquisition function that executes a process (step) to acquire the currently authenticated user level. The user information acquisition unit 11 of this embodiment acquires user information including the user level of the user logged in to the motor control device 1.

[0027] The adjustment condition setting unit 12 is an adjustment condition setting function that executes a process (step) for setting predetermined adjustment conditions for each user level. The adjustment conditions set by the adjustment condition setting unit 12 include at least one of the adjustment axis to be adjusted, measurement conditions including the movement speed and position during measurement, and parameter adjustment ranges. Note that the settings of the adjustment conditions may be changed by loading an adjustment condition file in a predetermined format from an external device.

[0028] The adjustment condition limiting unit 13 is an adjustment condition limiting function that executes a process (step) to limit the adjustment conditions based on the user level acquired by the user information acquiring unit 11 and the adjustment conditions set by the adjustment condition setting unit 12. In this embodiment, the adjustment condition limiting unit 13 limits the range within which the parameters of the acceleration / deceleration control unit 20, the feedforward unit 21, and the speed control unit 23 can be changed as parameters of the adjustment device.

[0029] 3 is a table showing an example of the limitations on the adjustment conditions set for each user level, which shows the limitation ranges of the adjustment conditions for each of user levels 1, 2, and 3.

[0030] Level 1 is intended for machine users such as operators, and is a user level with the most restricted adjustment conditions to prevent operational errors and human errors by inexperienced users. In this embodiment, level 1 is an adjustment condition that allows adjustment of the feedback gain parameters of the speed control unit 23. In this example, the adjustment axis is limited to the X-axis, which is a specific adjustment axis, the measurement conditions are a feed rate of 0 mm / min and a movement range of 0 mm, and the parameter adjustment range is set to a lower limit of 100 and an upper limit of 150 for the gain. On the other hand, the filter of the speed control unit 23, the feedforward coefficient (gain) of the feedforward unit 21, and the acceleration / deceleration time constant of the acceleration / deceleration control unit 20 are not adjustable.

[0031] Level 2 is intended for users such as integrators, such as service engineers, and is a user level limited to adjustment of only specific axes that do not significantly affect the machine specifications or maintainability. In this embodiment, Level 2 allows adjustment of the feedback gain parameter of the speed control unit 23 and the feedforward coefficient parameter of the feedforward unit 21. In this example, for the feedback gain parameter, the adjustment axes are the X-axis, Y-axis, and Z-axis, the measurement conditions are a feed rate of 120 mm / min and a movement range of 0 to 200 mm, and the parameter adjustment range is set to a gain lower limit of 100 and an upper limit of 250. For the feedforward coefficient parameter, the adjustable axes are the X-axis, Y-axis, and Z-axis, the measurement conditions are a feed rate of 800 mm / min and a movement range of 0 to 200 mm, and the parameter adjustment range is set to a gain lower limit of 100 and an upper limit of 250. On the other hand, the filter of the speed control unit 23 and the acceleration / deceleration time constant of the acceleration / deceleration control unit 20 are not adjustable.

[0032] Level 3 is a user level where adjustment conditions are least restricted, and is intended for users such as machine designers of machine manufacturers. In this embodiment, at level 3, the feedback gain, filter, feedforward coefficient, and acceleration / deceleration time constant of the speed control unit 23 can all be adjusted without restrictions.

[0033] Next, the display change unit 14 will be described with reference to Figures 4 to 7. The display change unit 14 is a display change function that executes processing (steps) for displaying a setting screen for adjustment conditions according to the user level. The display processing method by the display change unit 14 is not particularly limited. For example, the setting screen based on the user level acquired by the user information acquisition unit 11 may be displayed on a display unit included in the adjustment support device 10, or on the display unit 2 of the motor control device 1.

[0034] A description will be given of a display example for user level 3. Fig. 4 is a diagram showing an example of a setting screen for adjustment items for user level 3. The setting screen shown in Fig. 4 shows an adjustment flow section 51 and an adjustment item selection section 52a.

[0035] The adjustment flow section 51 shows the procedure for setting adjustment conditions and also shows the items being set. In this embodiment, the adjustment flow section 51 displays, from the top, the selection of adjustment items, initial settings, automatic adjustment, and confirmation of adjustment results. Items being set are displayed in color or the like to distinguish them from other items. This adjustment flow section 51 displays content common to user levels 1 to 3.

[0036] 4, the adjustment flow section 51 displays the selection of adjustment items as items being set, and an adjustment item selection section 52a is displayed on the right side of the adjustment flow section 51. The adjustment item selection section 52a is a display corresponding to user level 3, and all adjustment conditions of the gain filter, feedforward, and acceleration / deceleration time constants can be selected without restriction as adjustment items. In this example, the adjustment conditions to be changed are selected by checking the checkboxes for the gain filter, feedforward, and acceleration / deceleration time constants.

[0037] 5 is a diagram showing an example of an adjustment axis setting screen for user level 3. In the example of FIG. 5, adjustment flow section 51 displays the selection of an adjustment axis as an item being set, and adjustment axis selection section 53a is displayed to the right of adjustment flow section 51. Adjustment axis selection section 53a is a display corresponding to user level 3, and allows any of the X-axis, Y-axis, and Z-axis to be selected as adjustment axes for gain filter, feedforward, and acceleration / deceleration time constant, without restriction. In adjustment axis selection section 53a, too, the adjustment axis to be changed is selected by checking the checkbox corresponding to the X-axis, Y-axis, or Z-axis of each adjustment item.

[0038] A description will be given of a display example for user level 1. Fig. 6 is a diagram showing an example of a setting screen for adjustment items for user level 1. The setting screen shown in Fig. 6 shows an adjustment flow section 51 and an adjustment item selection section 52b.

[0039] As described above, the display of the adjustment flow section 51 is the same as that of user level 1. On the other hand, the adjustment item selection section 52b reflects the restrictions corresponding to level 1 on the setting screen. A user at user level 1 can only adjust the adjustment items of the gain and filter. Therefore, in the adjustment item selection section 52b for user level 1, only the check boxes for the gain and filter can be checked. In this example, the check boxes for the feedforward and acceleration / deceleration time constants are grayed out and cannot be selected.

[0040] FIG. 7 is a diagram showing an example of an adjustment axis setting screen for user level 1. In the example of FIG. 7, the adjustment axis selection is displayed as an item being set in the adjustment flow section 51, and an adjustment axis selection section 53b is displayed to the right of the adjustment flow section 51. A user at user level 1 can only select the X axis of the gain filter as an adjustment axis. Therefore, in the adjustment axis selection section 53b for user level 1, only the check box corresponding to the X axis of the gain filter can be checked. In this example, the check boxes for the Y axis and Z axis of the gain filter, the X axis, Y axis, and Z axis of the feedforward, and the X axis, Y axis, and Z axis of the acceleration / deceleration time constant are grayed out and cannot be selected.

[0041] In this manner, in this embodiment, the user interface, such as selection display and input, is restricted according to the adjustment conditions set for each user level. Note that for the numerical ranges of measurement conditions and the like that differ for each user level, the range of numerical input is restricted according to the user level. Furthermore, the changes in the setting screen that are changed for each user level are not limited to graying out check boxes and restricting numerical input, and other formats may be adopted.

[0042] As described above, the adjustment support device 10 of the first embodiment includes a user information acquisition unit 11 that acquires the currently authenticated user level, an adjustment condition setting unit 12 that sets adjustment conditions for parameters for each predetermined user level, and an adjustment condition restriction unit 13 that restricts the adjustment conditions for parameters based on information from the user information acquisition unit 11 and the adjustment condition setting unit 12.

[0043] This allows the range and conditions that can be adjusted to be set for each user level, making it possible to set appropriate adjustment conditions according to the attributes of the user who uses the machine (machine tool or industrial machine). By setting adjustment conditions that are appropriate for each of the machine manufacturer's designers, service engineers, and operators, as in this embodiment, it becomes possible to adjust parameters within the range required for each attribute while ensuring maintainability and confidentiality.

[0044] In this embodiment, the parameters include at least one of a filter coefficient, a feedback gain, a feedforward coefficient, and an acceleration / deceleration time constant.

[0045] This makes it possible to realize limitations on adjustment conditions according to the user level in the adjustment support device 10 that adjusts the filter coefficient, feedback gain, feedforward coefficient, or acceleration / deceleration time constant as parameters.

[0046] In this embodiment, the adjustment conditions include at least one of the axis to be adjusted, the measurement conditions including the moving speed and position during measurement, and the adjustment range of the parameters.

[0047] This makes it possible to set limitations according to the user level, using as adjustment conditions the measurement conditions or parameter adjustment ranges including the axis to be adjusted, the movement speed and position during measurement.

[0048] The adjustment support device 10 of this embodiment further includes a display change unit 14 that causes the display unit 2 to display a setting screen for adjustment conditions corresponding to user level restrictions.

[0049] As a result, the adjustment conditions on the setting screen displayed by the display unit 2 correspond to the user level, so that the user can easily perform adjustment work according to their own level while understanding the limitations of the adjustment conditions.

[0050] Second Embodiment Next, a configuration of a second embodiment that differs from the first embodiment will be described with reference to Fig. 8. Fig. 8 is a functional block diagram of an adjustment support device 10a according to the second embodiment.

[0051] As shown in FIG. 8 , the adjustment support device 10 a of the second embodiment further includes an inertia information acquisition unit 15 that acquires the inertia of the driven motor 30 , and changes the adjustment conditions based on the inertia of the inertia information acquisition unit 15 .

[0052] The relationship between the damping characteristics of the speed loop and inertia will be described with reference to Fig. 9. Fig. 9 is a graph showing the time change in response speed, which differs depending on the damping characteristics of the speed loop of the motor 30. The damping characteristics (ζ) of the speed loop of the motor 30 can be calculated from the following equation 1. K in equation 1 ｉ is the integral gain, K ｐ is the proportional gain, K ｔ is the torque multiplier, J ｍ is the rotor inertia of the motor 30, J Ｉ represents the load inertia of the motor 30. As shown in FIG. 9 and Equation 1, the damping characteristic (ζ) varies not only depending on the speed control gain of the motor 30 but also on the load inertia. Therefore, when the load inertia changes, the inertia ratio (J Ｉ / J ｍ ) as a gain multiplier, the damping characteristic ζ can be kept constant. This prevents a decrease in responsiveness, vibration, and overshoot.

[0053]

[0054] In the second embodiment, the numerical ranges of parameters such as integral gain and proportional gain can be changed in accordance with the inertia change (inertia ratio) of the motor 30 .

[0055] The inertia information acquisition unit 15 is an inertia information acquisition function that executes a process (step) to acquire inertia through the motor control device 1. There are no particular limitations on the method for acquiring inertia. The inertia information acquisition unit 15 may use the inertia estimated by the motor control device 1, or may estimate the inertia itself.

[0056] For example, the inertia may be estimated from a representative current value and a representative acceleration value obtained from the current value and acceleration value of the motor 30 over multiple periods of a sinusoidal command applied to the torque command to the motor 30, and from the torque constant of the motor 30. Alternatively, the inertia may be estimated from the torque required to drive the motor 30 at a constant speed and the torque required to accelerate or decelerate the motor 30 to compensate for the inertia of the motor 30, and from the acceleration during acceleration and deceleration. Various known techniques can be used to estimate the inertia.

[0057] The adjustment condition setting unit 12 sets adjustment conditions that reflect inertia changes based on the inertia acquired by the inertia information acquisition unit 15. For example, assume that adjustment condition limits of a gain lower limit of 100 and an upper limit of 250 are set in the parameter adjustment range. In this case, the adjustment condition setting unit 12 can set adjustment conditions that reflect inertia changes by making the upper limit of the adjustment conditions changeable in accordance with the current inertia ratio. More specifically, the adjustment condition setting unit 12 can set the upper limit of the gain to a value obtained by multiplying the inertia ratio by the inertia ratio, with the gain lower limit of 100 and the initial upper limit of 250, in the parameter adjustment range. This ensures a margin for inertia increase.

[0058] By configuring the adjustment support device 10a of the second embodiment in this manner, it becomes easier to adjust parameters taking into account changes in inertia, further improving the ease of use of the adjustment support device 10a and the motor control device 1.

[0059] The adjustment support device 10 and the adjustment support device 10a of the above-described embodiments can be realized by hardware, software, or a combination thereof. The control method performed by the adjustment support device 10 or the adjustment support device 10a can also be realized by hardware, software, or a combination thereof. "Realized by software" here means that the method is realized by a computer reading and executing a program.

[0060] The program can be stored and supplied to a computer using various types of non-transitory computer-readable media. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)).

[0061] The present disclosure is not limited to the above-described embodiments, and includes modifications and improvements within the scope of achieving the object of the present disclosure.

[0062] The following supplementary note is further disclosed regarding the above embodiment and modified examples: (Supplementary Note 1) An adjustment assistance device (10, 10a) for adjusting parameters relating to the behavior of a machine in a control device that controls a motor that drives the machine, the adjustment assistance device (10, 10a) comprising: a user information acquisition unit (11) that acquires a currently authenticated user level, an adjustment condition setting unit (12) that sets adjustment conditions for the parameters for each predetermined user level, and an adjustment condition restriction unit (13) that restricts the adjustment conditions for the parameters based on information from the user information acquisition unit and the adjustment condition setting unit.

[0063] (Supplementary Note 2) In the above adjustment support device (10, 10a), the parameters include at least one of a filter coefficient, a feedback gain, a feedforward coefficient, and an acceleration / deceleration time constant.

[0064] (Supplementary Note 3) In the above adjustment support device (10, 10a), the adjustment conditions include at least one of an axis to be adjusted, measurement conditions including a moving speed and a position during measurement, and an adjustment range of the parameter.

[0065] (Supplementary Note 4) The adjustment support device (10, 10a) further comprises a display change unit (14) that causes a display unit (2) to display a setting screen for the adjustment conditions corresponding to the restrictions of the user level.

[0066] (Supplementary Note 5) The above adjustment assistance device (10a) further comprises an inertia information acquisition unit (15) that acquires the inertia of the motor being driven, and changes the adjustment conditions based on the inertia of the inertia information acquisition unit (15).

[0067] (Supplementary Note 6) An adjustment support method for adjusting parameters relating to the behavior of a machine in a control device that controls a motor that drives the machine, the adjustment support method including: a user information acquisition step of acquiring a currently authenticated user level; an adjustment condition setting step of setting adjustment conditions for the parameters for each predetermined user level; and an adjustment condition restriction step of restricting the adjustment conditions for the parameters based on information from the user information acquisition step and the adjustment condition setting step.

[0068] (Supplementary Note 7) A computer program that adjusts parameters related to the behavior of a machine in a control device that controls a motor that drives the machine, the program causing the computer to realize: a user information acquisition function that acquires the currently authenticated user level; an adjustment condition setting function that sets adjustment conditions for the parameters for each predetermined user level; and an adjustment condition restriction function that restricts the adjustment conditions for the parameters based on information from the user information acquisition function and the adjustment condition setting function.

[0069] REFERENCE SIGNS LIST 1 Motor control device 2 Display unit 10 Adjustment support device 11 User information acquisition unit 12 Adjustment condition setting unit 13 Adjustment condition restriction unit 14 Display change unit 15 Inertia information acquisition unit 30 Motor 100 Motor drive system

Claims

1. An adjustment support device that adjusts parameters related to the behavior of a control device that controls a motor that drives a machine, the adjustment support device comprising: a user information acquisition unit that acquires the currently authenticated user level; an adjustment condition setting unit that sets adjustment conditions for the parameters for each predetermined user level; and an adjustment condition restriction unit that restricts the adjustment conditions for the parameters based on information from the user information acquisition unit and the adjustment condition setting unit.

2. The adjustment assistance device according to claim 1, wherein the parameters include at least one of a filter coefficient, a feedback gain, a feedforward coefficient, and an acceleration / deceleration time constant.

3. An adjustment support device according to claim 1 or 2, wherein the adjustment conditions include at least one of the axis to be adjusted, measurement conditions including the movement speed and position during measurement, and the adjustment range of the parameter.

4. The adjustment support device according to any one of claims 1 to 3, further comprising a display change unit that causes a display unit to display a setting screen for the adjustment conditions corresponding to the restrictions of the user level.

5. An adjustment assistance device according to any one of claims 1 to 4, further comprising an inertia information acquisition unit that acquires the inertia of the motor being driven, and that changes the adjustment conditions based on the inertia acquired by the inertia information acquisition unit.

6. An adjustment support method for adjusting parameters related to the behavior of a machine in a control device that controls a motor that drives the machine, the adjustment support method including: a user information acquisition step of acquiring a currently authenticated user level; an adjustment condition setting step of setting adjustment conditions for the parameters for each predetermined user level; and an adjustment condition restriction step of restricting the adjustment conditions for the parameters based on information from the user information acquisition step and the adjustment condition setting step.

7. A computer program that adjusts parameters related to the behavior of a machine in a control device that controls a motor that drives the machine, the program causing the computer to realize: a user information acquisition function that acquires the currently authenticated user level; an adjustment condition setting function that sets adjustment conditions for the parameters for each predetermined user level; and an adjustment condition restriction function that restricts the adjustment conditions for the parameters based on information from the user information acquisition function and the adjustment condition setting function.

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