Control method and control device for motor drive device
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- NIDEC CORP(JP)
- Filing Date
- 2026-01-22
- Publication Date
- 2026-07-30
Smart Images
Figure JP2026001997_30072026_PF_FP_ABST
Abstract
Description
Control Method and Control Device for Motor Drive Device
[0001] The present disclosure relates to a control method and a control device for a motor drive device. This application claims priority based on Japanese Patent Application No. 2025-010863 filed in Japan on January 24, 2025, and the content thereof is incorporated herein by reference.
[0002] Conventionally, devices such as inspection devices, processing machines, or conveyors that utilize a gantry mechanism configured by combining a plurality of linear slide shafts in parallel or perpendicular are known.
[0003] In a device having this gantry mechanism, a servo motor and a drive device for the servo motor are arranged on each of the plurality of slide shafts. When using this device, it is necessary to set control parameters such as servo gain. As this setting method, for example, a system has been proposed in which a plurality of axes are grouped as one group, and control parameters are adjusted for the plurality of axes constituting this group. In this system, the average value of the adjustment results of the control parameters of the plurality of axes constituting the group is used as the control parameter value of each mechanical axis (see, for example, Patent Document 1).
[0004] Japanese Patent No. 5523643
[0005] In the above prior art, since auto-tuning is performed in units of groups,there is a problem that the error of the control parameters is large.
[0006] Therefore, the present disclosure provides a technique for highly accurately generating control parameters in a motor drive device including a plurality of slide shafts.
[0007] A control method according to one aspect of the present disclosure is a motor drive device comprising: a first slide shaft; a second slide shaft; a first motor for driving the first slide shaft; a second motor for driving the second slide shaft; a first motor control unit for holding first parameters and controlling the first motor based on the held first parameters; and a second motor control unit for holding second parameters and controlling the second motor based on the held second parameters, the control method for the motor drive device comprising: a first setting step of causing the first motor control unit to hold predetermined initial parameters as first parameters; a second setting step of causing the second motor control unit to hold parameters obtained by adjusting the parameters held by the first motor control unit as second parameters; a tuning step of operating the first motor and the second motor; a first update step of updating the held first parameters based on the results of the tuning step; and a second update step of causing the second motor control unit to hold and update parameters obtained by adjusting the updated first parameters.
[0008] According to this disclosure, it is possible to generate control parameters in a motor drive device having multiple slide axes with high precision.
[0009] Figure 1 is a diagram showing an example configuration of a gantry system according to an embodiment. Figure 2 is a block diagram showing the functional configuration of the gantry system according to an embodiment. Figure 3 is a diagram showing an example of the processing procedure for the tuning process according to an embodiment. Figure 4 is a diagram showing an example of the display in the tuning process according to an embodiment. Figure 5 is a diagram showing an example of the processing procedure for the display process according to an embodiment.
[0010] Embodiments of the present disclosure will be described in detail below with reference to the drawings. In the following embodiments, the same parts will be denoted by the same reference numerals to avoid redundant descriptions.
[0011] (Gantry System) Figure 1 is a diagram showing an example configuration of a gantry system according to an embodiment. The same figure is a schematic diagram representing an example configuration of gantry system 1.
[0012] The gantry system 1 is a system that uses a gantry mechanism configured by combining multiple slide axes in parallel. The gantry mechanism 10 shown in Figure 1 has two slide axes (first slide axis 11A and second slide axis 11B) that are parallel to each other, and one connecting part 17 that is perpendicular to the two slide axes (first slide axis 11A and second slide axis 11B). The gantry system 1 is used, for example, in processing or transportation where high positional accuracy is required. Specifically, the gantry system 1 may be used in inspection equipment, processing machines or conveying machines, etc. The gantry system 1 includes the gantry mechanism 10, a plurality of motor control devices 20 (hereinafter also referred to as "first motor control device 20A" and "second motor control device 20B"), and an information processing device 40.
[0013] In this specification, the reference numeral ending in "A" is used for components attached to (related to) the first motor control device 20A, and the reference numeral ending in "B" is used for components attached to the second motor control device 20B. The components attached to the first motor control device 20A and the components attached to the second motor control device 20B are either identical or substantially identical to each other. When there is no need to distinguish between the components attached to the first motor control device 20A and the components attached to the second motor control device 20B, the final letters "A" and "B" may be omitted (for example, 20A and 20B may be written as 20). Furthermore, components whose reference numeral ending in "A" may be referred to as "First (Component Name)," and components whose reference numeral ending in "B" may be referred to as "Second (Component Name)."
[0014] The gantry mechanism 10 is configured so that the connecting portion 17 can move in one direction (here, in the positive or negative direction of the Y axis). The gantry mechanism 10 includes a first slide shaft 11A, a second slide shaft 11B, a first movable portion 13A, a second movable portion 13B, a first motor 15A, a second motor 15B, and a connecting portion 17.
[0015] The first slide shaft 11A and the second slide shaft 11B extend parallel to each other along the direction of movement of the connecting portion 17. The first slide shaft 11A and the second slide shaft 11B are spaced apart in the horizontal direction (in this case, the X-axis direction) perpendicular to the direction of movement of the connecting portion 17. Specifically, the first slide shaft 11A is positioned at one end (positive X-axis direction side) perpendicular to the direction of movement of the connecting portion 17. The second slide shaft 11B is positioned at the other end (negative X-axis direction side) perpendicular to the direction of movement of the connecting portion 17.
[0016] The first movable part 13A is the part that moves along the first slide axis 11A. One end of the connecting part 17 is connected to the first movable part 13A. The second movable part 13B is the part that moves along the second slide axis 11B. The other end of the connecting part 17 is connected to the second movable part 13B.
[0017] The first motor 15A is, for example, a servo motor and drives the first slide shaft 11A. Specifically, the first motor 15A applies a driving force to the first movable part 13A. As a result, the first motor 15A causes the first movable part 13A to reciprocate along the first slide shaft 11A. On the first slide shaft 11A, the position of one end of the connecting part 17 correlates with the position of the first movable part 13A.
[0018] The second motor 15B is, for example, a servo motor and drives the second slide shaft 11B. Specifically, the second motor 15B applies a driving force to the second movable part 13B. As a result, the second motor 15B causes the second movable part 13B to reciprocate along the second slide shaft 11B. On the second slide shaft 11B, the position of one end of the connecting part 17 correlates with the position of the second movable part 13B.
[0019] The first motor 15A and the second motor 15B may each include an electrically powered drive source that generates a driving force and a position detection unit that detects the position in the Y-axis direction of the end of the connecting portion 17 that is the object to be driven. The first motor 15A and the second motor 15B may be motors that generate a driving force in the rotational direction around the rotation axis. In this case, the gantry mechanism 10 may include a mechanism (for example, a ball screw mechanism) that converts the rotational energy from the first motor 15A into motion along the first slide axis 11A. The gantry mechanism 10 may also include a mechanism that converts the rotational energy from the second slide axis 11B into motion along the second slide axis 11B.
[0020] The connecting portion 17 is the part that mechanically connects the first slide shaft 11A and the second slide shaft 11B. The connecting portion 17 may be formed in the shape of a rod that extends along the X-axis direction. One end of the connecting portion 17 in the X-axis direction is connected to the first movable portion 13A, and the other end of the connecting portion 17 in the X-axis direction is connected to the second movable portion 13B. A driving force is applied to each end of the connecting portion 17 along a line parallel to the Y-axis direction via the first movable portion 13A or the second movable portion 13B.
[0021] The connecting portion 17 may have a tool 171 for performing a predetermined operation. The tool 171 may be provided, for example, on the lower surface of the connecting portion 17, approximately in the center in the X-axis direction. The gantry mechanism 10 may include a mechanism for driving (reciprocating) the tool 171 along the X-axis direction. A mechanism for driving the tool 171 along the X-axis direction may be provided on the connecting portion 17. The gantry mechanism 10 may include a mechanism for driving (reciprocating) the tool 171 along a direction perpendicular to the X-axis direction and the Y-axis direction (here, the Z-axis direction).
[0022] The first motor control device 20A is connected to the first motor 15A and controls the operation of the first motor 15A. The first motor control device 20A can, for example, control the driving force (amount of drive) provided by the first motor 15A.
[0023] The second motor control device 20B is connected to the second motor 15B and controls the operation of the second motor 15B. The second motor control device 20B can, for example, control the driving force (amount of drive) provided by the second motor 15B.
[0024] The first motor control device 20A and the second motor control device 20B may be connected to each other so as to be able to communicate with each other. The first motor control device 20A and the second motor control device 20B may control the first motor 15A and the second motor 15B in a synchronous manner. The first motor control device 20A and the second motor control device 20B control the first motor 15A and the second motor 15B so that the connecting portion 17 of the gantry mechanism 10 follows the target position.
[0025] The information processing device 40 is connected to the first motor control device 20A and the second motor control device 20B in a communication manner. The information processing device 40 configures the gantry system 1.
[0026] Figure 2 is a block diagram showing the functional configuration of the gantry system 1 according to an embodiment. As shown in Figure 2, the gantry system 1 includes an information processing device 40, a first motor control device 20A, and a second motor control device 20B.
[0027] The first motor control device 20A comprises a communication unit 210A, a storage unit 220A, and a control unit 230A.
[0028] The communication unit 210A is implemented, for example, by a predetermined communication circuit or NIC. The communication method used by the communication unit 210A may be, for example, wireless communication such as a local area network (LAN).
[0029] The memory unit 220A is implemented by, for example, semiconductor memory elements such as RAM and flash memory, or storage devices such as hard disks and optical discs.
[0030] The control information storage unit 221A is a database that stores control information related to the control of the gantry mechanism 10. The control information may include correspondence information indicating whether the motor control device 20 controls the first slide shaft 11A or the second slide shaft 11B.
[0031] The control unit 230A is implemented, for example, by a CPU or MPU executing various programs stored in internal memory using RAM as a working area. The control unit 230A may also be implemented by an integrated circuit such as an ASIC or FPGA.
[0032] Furthermore, the control unit 230A includes a servo amplifier. The control information held by the memory unit 220A includes the control parameters of the servo amplifier. These control parameters are, for example, servo gains. The control parameters of the first motor control device 20A are referred to as the first parameters.
[0033] The second motor control device 20B comprises a communication unit 210B, a storage unit 220B, and a control unit 230B.
[0034] The communication unit 210B is implemented, for example, by a predetermined communication circuit or NIC. The communication method used by the communication unit 210B may be wireless communication such as a local area network (LAN).
[0035] The memory unit 220B is implemented by, for example, semiconductor memory elements such as RAM and flash memory, or storage devices such as hard disks and optical discs.
[0036] The control information storage unit 221B is a database that stores control information related to the control of the gantry mechanism 10.
[0037] The control unit 230B is implemented, for example, by a CPU or MPU executing various programs stored in internal memory using RAM as a working area. The control unit 230B may also be implemented by an integrated circuit such as an ASIC or FPGA.
[0038] Furthermore, the control unit 230B includes a servo amplifier. The control information held by the memory unit 220B includes the control parameters of the servo amplifier. These control parameters are, for example, servo gain. The control parameters of the second motor control device 20B are referred to as the second parameters.
[0039] Note that the first motor 15A is an example of the "first motor" of the present disclosure. The second motor 15B is an example of the "second motor" of the present disclosure. The first motor control device 20A is an example of the "first motor control unit" of the present disclosure. The second motor control device 20B is an example of the "second motor control unit" of the present disclosure.
[0040] The information processing device 40 includes a communication unit 410, a storage unit 420, an input unit 440, a display unit 450, and a control device 430.
[0041] The input unit 440 is an input device that receives a predetermined input from the user. The input unit 440 is, for example, a keyboard or a mouse. Also, when the display unit 450 described later is a touch panel type display, a part of the display unit 450 functions as the input unit 440.
[0042] The display unit 450 is a display device that displays various information. For example, the display unit 450 is a liquid crystal display or an organic EL display (Organic Electro-Luminescent Display). Also, the display unit 450 may be a touch panel type display.
[0043] The communication unit 410 is realized by, for example, a predetermined communication circuit or NIC. The communication method by the communication unit 410 may be wireless communication such as a local area network (LAN).
[0044]
[0044] The storage unit 420 is realized by, for example, a semiconductor memory element such as a RAM or a flash memory, or a storage device such as a hard disk or an optical disk.
[0045] The control device 430 is realized by, for example, a CPU or an MPU, etc., by executing various programs stored in the internal memory using the RAM as a work area. The control device 430 may be realized by an integrated circuit such as an ASIC or an FPGA.
[0046] The control device 430 includes a position command unit 431, a display control unit 432, and a control unit 433.
[0047] The position command unit 431 outputs position commands to the first motor control device 20A and the second motor control device 20B.
[0048] The display control unit 432 controls the display unit 450. The display control unit 432 generates image data for display and outputs it to the display unit 450.
[0049] The control unit 433 tunes the servo amplifiers of the first motor control device 20A and the second motor control device 20B. Conventionally, the servo motors were tuned individually for each of the first motor control device 20A and the second motor control device 20B. In the gantry system 1 of the present disclosure, the control unit 433 tunes the first motor control device 20A and the second motor control device 20B simultaneously.
[0050] The control unit 433 generates a first parameter and a second parameter. This can be done, for example, by generating the first parameter and the second parameter based on predetermined initial conditions. Here, for the initial parameters, for example, parameters that enable safe operation of the first motor 15A etc. can be applied.
[0051] Further, the control unit 433 further performs control to cause the generated first parameter and second parameter to be respectively held in the storage unit 220A of the first motor control device 20A and the storage unit 220B of the second motor control device 20B. Further, the control unit 433 further performs control to operate the first motor 15A and the second motor 15B. Here, the operation of operating the first motor 15A and the second motor 15B is referred to as tuning. Further, the control unit 433 further performs control to update the first parameter held in the storage unit 220A based on the result of the tuning. Here, the update of the first parameter is referred to as the first update. Further, the control unit 433 further performs control to update the second parameter by causing the storage unit 220B to hold a parameter obtained by adjusting the updated first parameter. Here, the update of the second parameter is referred to as the second update.
[0052] Furthermore, in the first update described above, the control unit 433 can perform the first update by comparing the response of the first motor 15A in tuning with the target value and based on the result of the comparison. Here, the target value may be, for example, the response speed or the deviation between axes.
[0053] Furthermore, the control unit 433 can also generate a second parameter by adjusting the first parameter generated based on predetermined initial conditions. In this case, the control unit 433 can adjust the first parameter based on the configuration of the drive mechanisms of the first slide shaft 11A and the second slide shaft 11B. For example, the control unit 433 can adjust the parameter based on whether the drive mechanisms of the first slide shaft 11A and the second slide shaft 11B are ball screw mechanisms or belt mechanisms. This adjustment can be performed, for example, by adding a correction value to the servo gain when the first parameter is a servo gain. This correction value can be changed based on whether the drive mechanisms of the first slide shaft 11A and the second slide shaft 11B are ball screw mechanisms or belt mechanisms.
[0054] Furthermore, in the second update described above, the control unit 433 can adjust the first parameter based on the configuration of the drive mechanisms of the first slide shaft 11A and the second slide shaft 11B. For example, the control unit 433 can adjust the parameter based on whether the drive mechanisms of the first slide shaft 11A and the second slide shaft 11B are ball screw mechanisms or belt mechanisms. This adjustment can be performed, for example, by adding a correction value to the servo gain when the first parameter is a servo gain. This correction value can be changed based on whether the drive mechanisms of the first slide shaft 11A and the second slide shaft 11B are ball screw mechanisms or belt mechanisms.
[0055] (Tuning Process) Figure 3 is a diagram showing an example of the processing procedure for the tuning process according to the embodiment. The same figure is a flowchart showing an example of the tuning process.
[0056] First, the control unit 433 initializes the first parameter and the second parameter (step S101). This can be done by the control unit 433 generating the first parameter and the second parameter. Next, the control unit 433 estimates the inertia ratio of the first motor 15A and the second motor 15B (step S102). Next, the control unit 433 updates the smoothing filter value for smoothing the position command in the tuning process (step S103). Next, the control unit 433 stores the first parameter in the storage unit 220A of the first motor control device 20A (step S104). Next, the control unit 433 stores the second parameter in the storage unit 220B of the second motor control device 20B (step S105).
[0057] Next, the control unit 433 performs tuning to operate the first motor 15A and the second motor 15B (step S106). For example, the control unit 433 causes the position command unit 431 to output a position command. Based on this position command, the first motor control device 20A and the second motor control device 20B operate the first motor 15A and the second motor 15B, respectively.
[0058] Next, the control unit 433 determines whether the tuning result in step S106 is equal to or greater than the target value (step S107). If the tuning result in step S106 is not equal to or greater than the target value (step S107, No), the control unit 433 updates the first parameter based on the tuning result (step S108). Specifically, if the first parameter is the servo gain, the control unit 433 updates the first parameter by storing the increased servo gain value in the storage unit 220A as a new first parameter.
[0059] Next, the control unit 433 updates the second parameter (step S109). Specifically, the control unit 433 updates the first parameter, which was updated in step S108, by storing the adjusted parameter in the storage unit 220B as a new second parameter. Next, the control unit 433 proceeds to the process in step S106.
[0060] On the other hand, if the tuning result in step S106 is equal to or greater than the target value (step S107, Yes), the control unit 433 terminates the process.
[0061] Step S101 is an example of the "generation process" of this disclosure. Steps S104 and S105 are examples of the "setting process" of this disclosure. Step S106 is an example of the "tuning process" of this disclosure. Steps S107 and S108 are examples of the "first update process" of this disclosure. Step S109 is an example of the "second update process" of this disclosure.
[0062] Thus, the gantry system 1 of this disclosure can simultaneously generate control parameters for the first motor control device 20A and the second motor control device 20B. Furthermore, it can generate the control parameters for the first motor control device 20A and the second motor control device 20B individually. This improves the accuracy of the control parameters.
[0063] (Display) Figure 4 is a diagram showing an example of the display in the tuning process according to the embodiment. The figure shows the display 500 that is displayed on the screen of the display control unit 432 during the tuning process. The display 500 comprises a display area 510, a display area 520, a display area 530, a display area 540, and a display area 550.
[0064] Display area 510 is the area where the first slide axis parameters are displayed. Display area 520 is the area where the second slide axis parameters are displayed. Display areas 510 and 520 can display, for example, the servo gain.
[0065] The display area 530 shows buttons for the user to operate. In Figure 5, the display area 530 shows three buttons: setting 531, start 532, and stop 533.
[0066] Display area 550 is the area that displays the waveform resulting from the tuning. Display area 540 is the area that displays the settings for display area 550.
[0067] (Display Processing) Figure 5 is a diagram showing an example of the processing procedure for display processing according to the embodiment. The same figure is a flowchart showing the display processing of the display control unit 432.
[0068] The display control unit 432 displays the tuning parameters in the display areas 510 and 520 (step S121). Next, the display control unit 432 determines whether the user has entered a start command (step S122) and waits until the user enters a start command (step S122, No). If the user enters a start command (step S122, Yes), the display control unit 432 updates the tuning parameters in the display areas 510 and 520 (step S123). Next, the display control unit 432 determines whether the auto-tuning has finished (step S124). If the auto-tuning has not finished (step S124, No), the display control unit 432 proceeds to the process in step S123.
[0069] On the other hand, if the auto-tuning is completed (step S124, Yes), the display control unit 432 displays the tuning results (step S125) and terminates the process.
[0070] Note that the configuration of display 500 is not limited to this example. For example, it is also possible to display additional tuning target values.
[0071] Thus, the gantry system 1 of this disclosure facilitates the setting of control parameters.
[0072] The method for setting control parameters described herein can also be applied to systems that autotune multiple servo amplifiers and to master-follower type systems. In a master-follower type system, the master tracks the target position, and the followers track the master. In this case, when the master control amplifier is autotuned, one or more follower control amplifiers are also autotuned.
[0073] Although the embodiments of this disclosure have been described above, the technical scope of this disclosure is not limited to the embodiments described above, and various modifications are possible without departing from the gist of this disclosure. Furthermore, components from different embodiments and modifications may be combined as appropriate.
[0074] The series of processes performed by each device described herein may be implemented using software, hardware, or a combination of software and hardware. The programs constituting the software are pre-stored in a storage medium (non-transitory media) provided inside or outside each device. Then, each program is loaded into RAM when the computer is running and executed by a processor such as a CPU.
[0075] Furthermore, the processes described herein using flowcharts and sequence diagrams do not necessarily have to be executed in the order shown. Some processing steps may be executed in parallel. Additional processing steps may be adopted, and some processing steps may be omitted.
[0076] Furthermore, the effects described herein are merely illustrative and not limiting, and other effects may also occur.
[0077] Furthermore, this technology can take the following configuration: (1) A motor drive device comprising: a first slide shaft; a second slide shaft; a first motor for driving the first slide shaft; a second motor for driving the second slide shaft; a first motor control unit for holding a first parameter and controlling the first motor based on the held first parameter; and a second motor control unit for holding a second parameter and controlling the second motor based on the held second parameter, wherein the control method for the motor drive device includes: a generation step for generating the first parameter and the second parameter based on predetermined initial conditions; a setting step for causing the first motor control unit and the second motor control unit to hold the generated first parameter and the generated second parameter, respectively; a tuning step for operating the first motor and the second motor; a first update step for updating the held first parameter based on the result of the tuning step; and a second update step for causing the second motor control unit to hold and update the parameter adjusted from the updated first parameter. (2) The motor drive control method according to (1), wherein the first update step involves comparing the response of the first motor in the tuning step with a target value and updating the retained first parameter based on the result of the comparison. (3) The motor drive control method according to (1) or (2), wherein the second update step involves adjusting the first parameter based on the configuration of the drive mechanisms of the first slide shaft and the second slide shaft. (4) The motor drive control method according to any one of (1) to (3), wherein the setting step involves generating the first parameter based on predetermined initial conditions and generating a parameter obtained by adjusting the generated first parameter as the second parameter. (5) The motor drive control method according to (4), wherein the setting step involves adjusting the first parameter based on the configuration of the drive mechanisms of the first slide shaft and the second slide shaft. (6) The motor drive control method according to any one of (1) to (5), wherein the first slide shaft and the second slide shaft are arranged in parallel.(7) A control method for a motor drive device according to (6), further comprising a connecting portion that mechanically connects the first slide shaft and the second slide shaft. (8) A control method for a motor drive device according to any one of (1) to (7), wherein the first motor and the second motor are servo motors, and the first parameter and the second parameter are servo gains. (9) A control device for controlling a motor drive device comprising: a first slide shaft; a second slide shaft; a first motor for driving the first slide shaft; a second motor for driving the second slide shaft; a first motor control unit for holding a first parameter and controlling the first motor based on the held first parameter; and a second motor control unit for holding a second parameter and controlling the second motor based on the held second parameter, the control device for generating the first parameter and the second parameter based on predetermined initial conditions; controlling the first motor control unit and the second motor control unit to hold the generated first parameter and the generated second parameter, respectively; controlling the first motor and the second motor; controlling the held first parameter based on the result of operating the first motor and the second motor; and controlling the second motor control unit to hold and update the parameter adjusted from the updated first parameter.
[0078] 1 Gantry System 10 Gantry Mechanism 11A First Slide Axis 11B Second Slide Axis 13A First Movable Part 13B Second Movable Part 15A First Motor 15B Second Motor 17 Connecting Part 20 Motor Control Device 20A First Motor Control Device 20B Second Motor Control Device 40 Information Processing Device 210A, 210B, 410 Communication Unit 220A, 220B, 420 Storage Unit 221A, 221B Control Information Storage Unit 230A, 230B Control Unit 430 Control Device 432 Display Control Unit 433 Control Unit
Claims
1. A motor drive device comprising: a first slide shaft; a second slide shaft; a first motor for driving the first slide shaft; a second motor for driving the second slide shaft; a first motor control unit for holding a first parameter and controlling the first motor based on the held first parameter; and a second motor control unit for holding a second parameter and controlling the second motor based on the held second parameter, wherein the control method for the motor drive device includes: a generation step for generating the first parameter and the second parameter based on predetermined initial conditions; a setting step for causing the first motor control unit and the second motor control unit to hold the generated first parameter and the generated second parameter, respectively; a tuning step for operating the first motor and the second motor; a first update step for updating the held first parameter based on the result of the tuning step; and a second update step for causing the second motor control unit to hold and update the parameter adjusted from the updated first parameter.
2. The motor drive device control method according to claim 1, wherein the first update step involves comparing the response of the first motor in the tuning step with a target value and updating the retained first parameter based on the result of the comparison.
3. The control method for a motor drive device according to claim 1, wherein the second updating step adjusts the first parameter based on the configuration of the drive mechanism for the first slide shaft and the second slide shaft.
4. The motor drive device control method according to claim 1, wherein the setting step generates the first parameter based on predetermined initial conditions and generates a parameter obtained by adjusting the generated first parameter as the second parameter.
5. The control method for a motor drive device according to claim 4, wherein the setting step adjusts the first parameter based on the configuration of the drive mechanism for the first slide shaft and the second slide shaft.
6. The control method for a motor drive device according to claim 1, wherein the first slide shaft and the second slide shaft are arranged in parallel.
7. A control method for a motor drive device according to claim 6, further comprising a connecting portion that mechanically connects the first slide shaft and the second slide shaft.
8. A control method for a motor drive device according to claim 1, wherein the first motor and the second motor are servo motors, and the first parameter and the second parameter are servo gains.
9. A control device for controlling a motor drive device comprising: a first slide shaft; a second slide shaft; a first motor for driving the first slide shaft; a second motor for driving the second slide shaft; a first motor control unit for holding a first parameter and controlling the first motor based on the held first parameter; and a second motor control unit for holding a second parameter and controlling the second motor based on the held second parameter, the control device for generating the first parameter and the second parameter based on predetermined initial conditions; controlling the first motor control unit and the second motor control unit to hold the generated first parameter and the generated second parameter, respectively; controlling the first motor and the second motor; controlling the held first parameter based on the result of operating the first motor and the second motor; and controlling the second motor control unit to hold and update the parameter adjusted from the updated first parameter.