Adjustment support device and adjustment support method

Abstract

Provided are an adjustment support device and an adjustment support method with which it is possible to automate a retraction operation of an axis not related to an adjustment operation by modifying an adjustment program for adjusting parameters of a motor. In an adjustment support device for adjusting control parameters of a motor driven by a motor control device 1 to appropriate values, the adjustment of the control parameters is performed by moving axes XJ, YJ, and ZJ driven by the motor according to a prescribed adjustment program P. The adjustment support device comprises: a program generation unit 2 that generates the adjustment program P; a retraction operation generation unit 4 that generates a retraction operation for retracting, in advance, an axis not related to the adjustment from the operational range of the adjustment axes during the adjustment, and incorporates the retraction operation into the program generation unit 2; and an automatic adjustment unit 3 that adjusts the control parameters to appropriate values by running the adjustment program P in which the retraction operation has been incorporated.

Description

Adjustment support device and adjustment support method

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

[0002] Parameter adjustment of a motor that operates an axis of an industrial machine or a machine tool is performed by running the motor that drives the axis according to a predetermined adjustment program. For example, Patent Document 1 describes a technique related to parameter adjustment of this type of motor.

[0003] Patent Publication No. 2015-203646

[0004] For example, when adjusting the parameters of the motors that drive the X-, Y-, and Z-axes, the procedure is to complete the adjustment of the X- and Y-axes before adjusting the Z-axis. During the adjustment of the X- and Y-axes, the Z-axis, which is not involved in the adjustment, must be moved out of the operating range of the X- and Y-axes.

[0005] However, in the past, operators had to manually retract axes that were not related to the adjustment operation, which required retraction every time a specific axis was adjusted, and there was a need to reduce the labor and time required for parameter adjustment.

[0006] The present disclosure has been made in consideration of the above-mentioned problems, and aims to provide an adjustment support device and an adjustment support method that can automate the retraction operation of axes that are not related to the adjustment operation by devising an adjustment program that adjusts motor parameters.

[0007] One aspect of the present disclosure is an adjustment support device that adjusts control parameters of a motor driven by a motor control device (1) to appropriate values, wherein the adjustment of the control parameters is performed by moving axes (XJ, YJ, ZJ) driven by the motor in accordance with a predetermined adjustment program (P), and the adjustment support device includes: a program generation unit (2) that generates the adjustment program (P); an evacuation operation generation unit (4) that generates evacuation operations for retracting axes unrelated to the adjustment operation from the movement range of the adjustment axes when performing the adjustment, and imports the evacuation operations into the program generation unit (2); and an automatic adjustment unit (3) that adjusts the control parameters to appropriate values ​​by operating the adjustment program (P) into which the evacuation operations have been imported.

[0008] One aspect of the present disclosure is an adjustment support method for adjusting control parameters of a motor driven by a motor control device (1) to appropriate values, wherein the adjustment of the control parameters is performed by moving axes (XJ, YJ, ZJ) driven by the motor in accordance with a predetermined adjustment program (P), the adjustment support method comprising: a program generation means (2) that generates the adjustment program (P); a retraction operation generation means (4) that generates a retraction operation for retracting axes unrelated to the adjustment operation from the movement range of the adjustment axes when performing the adjustment, and imports the retraction operation into the program generation means (2); and an automatic adjustment means (3) that adjusts the control parameters to appropriate values ​​by operating the adjustment program (P) into which the retraction operation has been imported.

[0009] FIG. 1 is a configuration diagram showing an overview of a motor control device. FIG. 2 is a conceptual diagram showing the configuration of an adjustment program. FIG. 3 is a block diagram showing the configuration of an adjustment support device according to a modified example of this embodiment. FIG. 4 is a block diagram showing the configuration of an adjustment support device according to a second modified example of this embodiment. FIG. 5 is a conceptual diagram showing an example of a method for acquiring three-dimensional data by a three-dimensional data acquisition unit. FIG. 6 is a conceptual diagram showing another example of a method for acquiring three-dimensional data by a three-dimensional data acquisition unit. FIG. 7 is a conceptual diagram showing a method for deriving a retract position of an axis unrelated to the adjustment operation.

[0010] An example of an embodiment of the present invention will be described below.

[0011] Fig. 1 is a block diagram showing the configuration of an adjustment support device. Fig. 2 is a conceptual diagram showing the configuration of an adjustment program. It has been known in the field of industrial machinery and machine tools that CNC (Computerized Numerical Control) technology is applied to numerically control the amount of movement and speed of an axis driven by a motor using a computer, thereby achieving a high level of automation of repetitive identical operations or complex operations.

[0012] Here, the axis driven by the motor must operate at high speed and with high precision without oscillation. To achieve this, appropriate control parameters must be set according to the inertia of the motor's drive system, etc. For this reason, it is necessary to measure and analyze the current characteristics and update (adjust) them to appropriate control parameters. The control parameters to be adjusted include the motor control device's feedback gain, band-limiting filter, feedforward coefficient, acceleration / deceleration time constant, etc.

[0013] Referring to FIG. 1, an adjustment support device applicable to machine tools, industrial machinery, etc. includes a motor control device 1 that controls a motor, a program generation unit 2 that generates an adjustment program for the motor, an automatic adjustment unit 3 that automatically adjusts control parameters, and a retraction operation generation unit 4 that generates retraction operations for axes unrelated to the adjustment operation.

[0014] More specifically, for example, when adjusting the parameters of the motors that drive the X-axis XJ, Y-axis YJ, and Z-axis ZJ as shown in Figure 2, the adjustment of the Z-axis ZJ is performed after the adjustment of the X-axis XJ and Y-axis YJ is completed. During the adjustment of the X-axis XJ and Y-axis YJ, the Z-axis ZJ, which is an axis that is not related to the adjustment operation, must be retracted in advance from the operating range of the X-axis XJ and Y-axis YJ. The retraction operation generator 4 automatically generates retraction operations for the axes that are not related to the adjustment operation and incorporates them into the adjustment program P, thereby eliminating the need for manual retraction operations by an operator and enabling automation of the control parameter adjustment.

[0015] 1 , when adjustment of control parameters is started, in step S1, machine information is acquired from the motor control device 1. In step S2, the program generation unit 2 imports retraction operations for axes unrelated to the adjustment operation generated by the retraction operation generation unit 4. In step S3, the adjustment program P generated by the program generation unit 2 is sent to the motor control device 1.

[0016] In step S4, an axis operation command is sent to the motor control device 1 from the automatic adjustment unit 3, which automatically adjusts the control parameters. In step S5, current data obtained by executing the axis operations is fed back to the automatic adjustment unit 3. The automatic adjustment unit 3 optimizes the control parameters based on the fed-back current data. For example, the parameters are adjusted using a learning model constructed by machine learning. However, the adjustment method is not limited to machine learning. Then, in step S6, the motor control device 1 is updated with the adjusted parameters. Once the control parameters have been updated to their optimal values, the series of adjustment operations is completed. The adjustment support device according to this embodiment makes it possible to automate the parameter adjustment of the adjustment axis and the retraction operation of axes unrelated to the adjustment operation. This reduces the burden on the operator and reduces the man-hours and time required to adjust the parameters of multiple axes.

[0017] As shown in FIG. 2 , the retraction operation generator 4 incorporates a retraction operation program P1, which executes a retraction operation for retracting axes not to be adjusted, into the adjustment program P, which adjusts control parameters. The motor control device 1 retracts axes not involved in the adjustment operation in accordance with the retraction operation program P1. Then, using the learning program P2, the motor control device 1 moves to the adjustment point of the axis to be adjusted, and then performs a predetermined axis operation, thereby executing machine learning and adjustment of the control parameters. The automatic adjustment unit 3 can, for example, accelerate or decelerate each axis and determine the mechanical state of the axis and motor from the resulting noise, vibration, acceleration time, deceleration time, and other conditions.

[0018] FIG. 3 is a block diagram showing the configuration of an adjustment support device according to a modified example of this embodiment. The same reference numerals as those used above indicate the same or equivalent parts. This modified example is characterized in that the operator performing the adjustment can input values ​​and programs related to the retraction movement into the retraction movement generator 4 using an application UI (user interface) or a jog mode that allows manual input using a steering wheel. According to this modified example, the retraction movement can be generated through a simple input operation, eliminating the need for the operator to manually retract axes unrelated to the adjustment movement, and enabling the adjustment of control parameters to be fully automated.

[0019] 4 is a block diagram showing the configuration of an adjustment support device according to a second modification of this embodiment. The same reference numerals as those used above indicate the same or equivalent parts. This modification is characterized in that the evacuation operation generator 4 includes a three-dimensional data acquisition unit 41 and an evacuation position / evacuation path determiner 42.

[0020] The three-dimensional data acquisition unit 41 acquires three-dimensional data of the axes and workpieces based on, for example, information input to a UI (user interface) by an operator or image data captured by a camera. The retraction position / retraction path determination unit 42 automatically determines a retraction operation based on the necessary information transmitted from the program generation unit 2 in step S2a, and transmits this retraction operation to the program generation unit 2. According to this modification, the retraction operation generation unit 4 can semi-automatically generate the retraction operation for axes unrelated to the adjustment operation, eliminating the need for an operator to manually retract axes unrelated to the adjustment operation and enabling the adjustment of control parameters to be fully automated.

[0021] FIG. 5 is a conceptual diagram illustrating an example of a method for acquiring three-dimensional data using the three-dimensional data acquisition unit 41. In this embodiment, the operator can acquire three-dimensional data of the axes and workpieces by inputting coordinate values ​​A through F using the application UI. The evacuation position / evacuation path determination unit 42 derives evacuation positions and evacuation paths for axes unrelated to the adjustment operation based on the three-dimensional data of the axes and workpieces. To derive the evacuation path, well-known path search algorithms can be used, such as the A* (A-star) method, which enables the search for the shortest path by using a heuristic function incorporating a virtual distance to the goal, or the RRT (rapidly exploring random tree) method, which generates a path in three-dimensional space by randomly increasing nodes.

[0022] 6 is a conceptual diagram showing another example of a method for acquiring three-dimensional data using the three-dimensional data acquisition unit 41. In this embodiment, by photographing the shaft and workpiece W with multiple cameras, it is possible to automatically acquire three-dimensional data of the shaft and workpiece W based on the captured images. This figure shows a method for acquiring three-dimensional data using triangulation, which obtains desired position information by obtaining one side of a triangle (baseline length b) and the interior angles located at both ends of this side. In actual application, three or more images of image data are used to prevent blind spots.

[0023] FIG. 7 is a conceptual diagram showing a method for deriving the retraction positions of axes unrelated to the adjustment operation. As described above, for example, in the case of a machine tool or industrial machine having an X-axis XJ, a Y-axis YJ, and a Z-axis ZJ, the Z-axis ZJ, which is unrelated to the adjustment operation, must be retracted in advance during adjustment of the control parameters of the X-axis XJ and the Y-axis YJ. In this case, the retraction positions of the axes unrelated to the adjustment operation are selected as the furthest positions within the movement limits R3 of the axes unrelated to the adjustment operation that do not interfere with the adjustment axes XJ and YJ. Specifically, an expanded region R2 is created by expanding the movement region R1 of the adjustment axes XJ and YJ outward by H, and the position where H is maximum within the range that does not interfere with this expanded region R2 is selected as the retraction position. The method for deriving the retraction positions shown in FIG. 7 is merely an example, and various methods can be applied.

[0024] The adjustment support device can be configured with one or more control units and memory units. Here, the control unit is a processor such as a CPU (Central Processing Unit) that realizes various functions by executing programs stored in the memory unit. The memory unit is composed of a storage device such as a ROM (Read Only Memory) or RAM (Random Access Memory) that stores an OS (Operating System) and application programs, a hard disk drive or SSD (Solid State Drive) that stores various other information.

[0025] According to the above adjustment support device, an adjustment support method can be obtained in which the program generation unit 2 serves as program generation means, the evacuation action generation unit 4 serves as evacuation action generation means, and the automatic adjustment unit 3 serves as automatic adjustment means.

[0026] The above-described adjustment support device and adjustment support method can be realized by hardware, software, or a combination of these. Here, "realized by software" means that the device and method are realized by a computer reading and executing a program.

[0027] 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)).

[0028] Furthermore, although the above-described embodiments are preferred embodiments of the present invention, the scope of the present invention is not limited to only the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention. For example, the adjustment assistance device does not have to be independent, but may be part of the motor control device.

[0029] Although the present disclosure has been described in detail, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, etc. are possible in these embodiments without departing from the gist of the present disclosure or the spirit of the present disclosure derived from the content of the claims and their equivalents. These embodiments can also be implemented in combination. For example, in the above-described embodiments, the order of each operation and the order of each process are shown as examples and are not limited to these.

[0030] The adjustment support device and adjustment support method according to the present disclosure can be applied to various machine tools and industrial machines.

[0031] The following supplementary notes are further disclosed regarding the above-described embodiment and modified examples: (Supplementary Note 1) An adjustment assistance device that adjusts control parameters of a motor driven by a motor control device (1) to appropriate values, wherein the adjustment of the control parameters is performed by moving axes (XJ, YJ, ZJ) driven by the motor in accordance with a predetermined adjustment program (P), the adjustment assistance device comprising: a program generation unit (2) that generates the adjustment program (P), a retraction operation generation unit (4) that generates a retraction operation for retracting axes unrelated to the adjustment operation from the movement range of the adjustment axes when performing the adjustment and inputs the retraction operation into the program generation unit (2), and an automatic adjustment unit (3) that adjusts the control parameters to appropriate values ​​by operating the adjustment program (P) into which the retraction operation has been input.

[0032] (Supplementary Note 2) The adjustment support device according to Supplementary Note 1, wherein the evacuation action generating unit (4) generates the evacuation action based on evacuation action information received from a worker.

[0033] (Supplementary Note 3) The adjustment support device according to Supplementary Note 1, wherein the evacuation operation is composed of an evacuation position and an evacuation route, and the evacuation operation generation unit (4) includes: a three-dimensional data acquisition unit (41) that generates a three-dimensional model of a structure attached to the shaft and acquires position information of the three-dimensional model; and an evacuation position / evacuation route determination unit (42) that creates the evacuation position and the evacuation route based on information from the three-dimensional data acquisition unit (41) and the program generation unit (2).

[0034] (Supplementary Note 4) An adjustment support method for adjusting control parameters of a motor driven by a motor control device (1) to appropriate values, wherein the adjustment of the control parameters is performed by moving axes (XJ, YJ, ZJ) driven by the motor in accordance with a predetermined adjustment program (P), the adjustment support method comprising: a program generation means (2) for generating the adjustment program (P); a retraction operation generation means (4) for generating a retraction operation for retracting axes not related to the adjustment operation in advance from the movement range of the adjustment axes when performing the adjustment, and incorporating the retraction operation into the program generation means (2); and an automatic adjustment means (3) for adjusting the control parameters to appropriate values ​​by operating the adjustment program (P) into which the retraction operation has been incorporated.

[0035] REFERENCE SIGNS LIST 1 Motor control device 2 Program generation unit 3 Automatic adjustment unit 4 Evacuation operation generation unit 41 Three-dimensional data acquisition unit 42 Evacuation position / evacuation path determination unit XJ, YJ, ZJ axes P Adjustment program

Claims

1. An adjustment support device that adjusts control parameters of a motor driven by a motor control device to appropriate values, wherein the adjustment of the control parameters is performed by moving an axis driven by the motor in accordance with a predetermined adjustment program, the adjustment support device comprising: a program generation unit that generates the adjustment program; a retraction operation generation unit that generates a retraction operation for retracting an axis unrelated to the adjustment operation from the movement range of the adjustment axis when performing the adjustment, and imports the retraction operation into the program generation unit; and an automatic adjustment unit that adjusts the control parameters to appropriate values ​​by running the adjustment program into which the retraction operation has been imported.

2. The adjustment support device according to claim 1, wherein the evacuation action generation unit generates the evacuation action based on evacuation action information received from a worker.

3. The adjustment support device of claim 1, wherein the evacuation operation is composed of an evacuation position and an evacuation route, and the evacuation operation generation unit includes: a three-dimensional data acquisition unit that generates a three-dimensional model of a structure attached to the shaft and acquires position information of the three-dimensional model; and an evacuation position / evacuation route determination unit that creates the evacuation position and the evacuation route based on information from the three-dimensional data acquisition unit and the program generation unit.

4. An adjustment support method for adjusting control parameters of a motor driven by a motor control device to appropriate values, wherein the adjustment of the control parameters is performed by moving an axis driven by the motor in accordance with a predetermined adjustment program, the adjustment support method comprising: a program generation means for generating the adjustment program; a retraction operation generation means for generating a retraction operation for retracting an axis unrelated to the adjustment operation from the movement range of the adjustment axis when performing the adjustment, and incorporating the retraction operation into the program generation means; and an automatic adjustment means for adjusting the control parameters to appropriate values ​​by operating the adjustment program into which the retraction operation has been incorporated.

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