Notification method, determination system, determination device, and program

Abstract

The present invention provides a notification method, a determination system, a determination device, and a program that prompt switching to an appropriate combination of table data and, as intended, facilitate correction of positions of a first movable part of a first main shaft and a second movable part of a second main shaft. The notification method includes a determination step (S3) and a result notification step (S4). In the determination step (S3), when independent control mode is selected as the control mode, the compatibility of at least one of first table data and second table data with respect to the independent control mode is determined. In the result notification step (S4), notification of determination result information including the determination result in the determination step (S3) is issued.

Description

Notification method, determination system, determination apparatus, and program

[0001] The present disclosure generally relates to a notification method, a determination system, a determination apparatus, and a program. More specifically, the present disclosure relates to a notification method, a determination system, a determination apparatus, and a program used in a synchronous drive system that synchronously drives two parallel main shafts.

[0002] Patent Document 1 discloses a position control system. The position control system includes a general-purpose PC (Personal Computer), an X-axis servo amplifier, a Y1-axis servo amplifier, and a Y2-axis servo amplifier. The Y2-axis servo amplifier controls the drive of a Y2-axis linear motor based on a Y-axis position command input from the general-purpose PC. The Y2-axis servo amplifier includes a correction value table storage unit that stores inter-axis correction values corresponding to respective predetermined values of the Y-axis position command. The Y2-axis servo amplifier acquires an inter-axis correction value corresponding to the input Y-axis position command from the correction value table storage unit, adds or subtracts the inter-axis correction value to / from the input Y-axis position command to obtain a Y2-axis corrected position command, and controls the drive of the Y2-axis linear motor based on the Y2-axis corrected position command.

[0003] Japanese Unexamined Patent Application Publication No. 2017-41075

[0004] Incidentally, in the position control system (synchronous drive system) described in Patent Document 1, correction tables (table data) respectively corresponding to the Y1 axis (first main shaft) and the Y2 axis (second main shaft) are obtained, and position correction for the Y1 axis and the Y2 axis is performed. However, when the combination of the above correction tables is inappropriate, there is a possibility that the position correction for the Y1 axis and the Y2 axis cannot be performed as intended.

[0005] An object of the present disclosure is to provide a notification method, a determination system, a determination apparatus, and a program that promote switching to an appropriate combination of table data and facilitate position correction of a first movable portion of a first main shaft and a second movable portion of a second main shaft as intended.

[0006] A notification method according to one aspect of the present disclosure is a notification method used in a synchronous drive system comprising: a first spindle having a first motor and a second spindle having a second motor, connected parallel to each other via a sub-axis; and a control device that controls the first motor and the second motor, respectively, so that a first movable part of the first spindle and a second movable part of the second spindle move in the axial direction according to a control mode. The control mode is selected from a plurality of candidate modes. The plurality of candidate modes include an independent control mode that controls the first motor and the second motor independently by performing table correction, which involves correcting the position of the first movable part based on first table data corresponding to the first spindle and correcting the position of the second movable part based on second table data corresponding to the second spindle. The notification method includes a determination step and a result notification step. In the determination step, if the independent control mode is selected as the control mode, the suitability of at least one of the first table data and the second table data for the independent control mode is determined. In the result notification step, determination result information, including the determination result in the determination step, is notified.

[0007] A notification method according to another aspect of the present disclosure is a notification method used in a synchronous drive system comprising: a first spindle having a first motor and a second spindle having a second motor, connected parallel to each other via a sub-axis; and a control device that controls the first motor and the second motor, respectively, so that a first movable part of the first spindle and a second movable part of the second spindle move in the axial direction according to a control mode. The notification method includes a simulation display step. In the simulation display step, when the control mode is switched, the simulation results of the first movable part and the second movable part controlled according to the switched control mode are displayed.

[0008] A determination device according to yet another aspect of the present disclosure is a determination device used in a synchronous drive system comprising: a first spindle having a first motor and a second spindle having a second motor, connected parallel to each other via a sub-spindle; and a control device that controls the first motor and the second motor, respectively, so that a first movable part of the first spindle and a second movable part of the second spindle move in the axial direction according to a control mode. The control mode is selected from a plurality of candidate modes. The plurality of candidate modes include an independent control mode in which table correction is performed, which involves correcting the position of the first movable part based on first table data corresponding to the first spindle and correcting the position of the second movable part based on second table data corresponding to the second spindle, and the first motor and the second motor are controlled independently. The determination device comprises a determination unit. When the independent control mode is selected as the control mode, the determination unit determines the suitability of at least one of the first table data and the second table data to the control mode.

[0009] A determination device according to yet another aspect of the present disclosure is a determination device used in a synchronous drive system comprising: a first spindle having a first motor and a second spindle having a second motor, connected parallel to each other via a sub-spindle; and a control device that controls the first motor and the second motor, respectively, so that a first movable part of the first spindle and a second movable part of the second spindle move in the axial direction according to a control mode. The control mode is selected from a plurality of candidate modes. The plurality of candidate modes include an independent control mode in which table correction is performed, which involves correcting the position of the first movable part based on first table data corresponding to the first spindle and correcting the position of the second movable part based on second table data corresponding to the second spindle, and the first motor and the second motor are controlled independently. The determination device comprises a determination unit. When the independent control mode is selected as the control mode, the determination unit determines the suitability of at least one of the first table data and the second table data to the control mode.

[0010] A determination system according to yet another aspect of the present disclosure comprises a first spindle and a second spindle, a control device, and a communication terminal. The first spindle and the second spindle are connected parallel to each other via a sub-spindle. The first spindle has a first motor. The second spindle has a second motor. The control device controls the first motor and the second motor, respectively, so that a first movable part of the first spindle and a second movable part of the second spindle move in the axial direction according to a control mode. The communication terminal is communicateably connected to the control device. The control mode is selected from a plurality of candidate modes. The plurality of candidate modes include an independent control mode that controls the first motor and the second motor independently by performing table correction, which involves correcting the position of the first movable part based on first table data corresponding to the first spindle and correcting the second movable part based on second table data corresponding to the second spindle. The communication terminal has a determination unit. The determination unit determines the suitability of at least one of the first table data and the second table data to the control mode when the independent control mode is selected as the control mode.

[0011] A program relating to one aspect of this disclosure is a program that causes a computer system to execute the notification method described above.

[0012] According to this disclosure, there is an advantage in that it facilitates switching to the appropriate combination of table data and makes it easier to correct the positions of the first movable part of the first spindle and the second movable part of the second spindle as intended.

[0013] Figure 1 is a schematic diagram of a synchronous drive system and its peripheral configuration in which the notification method and determination device according to Embodiment 1 are used. Figure 2 is a schematic block diagram of the synchronous drive system according to Embodiment 1. Figure 3 is an explanatory diagram illustrating the determination result information of the notification method and determination device according to Embodiment 1. Figure 4 is an explanatory diagram illustrating another determination result information of the notification method and determination device according to Embodiment 1. Figure 5 is a sequence diagram of the notification method according to Embodiment 1. Figure 6 is another sequence diagram of the notification method according to Embodiment 1. Figure 7 is a flowchart used in the notification method and determination device according to Modification 1 of Embodiment 1. Figure 8 is a sequence diagram of the notification method according to Embodiment 2.

[0014] The embodiments and modifications described below are merely examples of the present disclosure. This disclosure is not limited to these embodiments and modifications, and various modifications are possible depending on the design, etc., as long as they do not depart from the technical idea of ​​the present disclosure. The figures described in the embodiments and modifications below are schematic diagrams, and the ratios of the size and thickness of each component in the figures do not necessarily reflect the actual dimensional ratios.

[0015] (1) Embodiment 1 (1-1) Overview Below, an overview of the notification method related to Embodiment 1 will be described with reference to Figures 1 to 6.

[0016] Figure 1 is a schematic diagram of the synchronous drive system 2 in which the notification method and determination device 1 according to Embodiment 1 are used, as well as the peripheral configuration.

[0017] The notification method according to Embodiment 1 is used for the synchronous drive system 2 (see Figure 1). Hereinafter, it is assumed that the synchronous drive system 2 is a synchronous drive device (synchronous drive system) having a so-called gantry mechanism, as shown in Figure 1. The Y1 axis, Y2 axis, and X axis in the gantry mechanism correspond to the first main axis Y1, the second main axis Y2, and the sub-axis X1, respectively (see Figure 1) in this disclosure. However, the synchronous drive system 2 may be a multi-axis synchronous drive device (multi-axis synchronous drive system) having a mechanism other than a gantry mechanism.

[0018] The synchronous drive system 2 comprises a first spindle Y1 and a second spindle Y2, and a control device C1. The first movable part Y11 of the first spindle Y1 and the second movable part Y21 of the second spindle Y2 are connected to each other in parallel via a sub-spindle X1 (see Figure 1). The first spindle Y1 has a first motor M1. The second spindle Y2 has a second motor M2. The control device C1 controls the first motor M1 and the second motor M2, respectively, so that the first movable part Y11 of the first spindle Y1 and the second movable part Y21 of the second spindle Y2 move synchronously in the axial direction D1 (see Figure 1) according to the control mode. The control device C1 has a first control unit 21 that controls the first motor M1 and a second control unit 22 that controls the second motor M2 (see Figure 2, described later). In this embodiment, the first control unit 21 is provided in the first spindle servo amplifier B1 (control device C1) that drives and controls the first motor M1 of the first spindle Y1. Furthermore, the second control unit 22 is provided in the second spindle servo amplifier B2 (control device C1) which drives and controls the second motor M2 of the second spindle Y2.

[0019] In the following, it is assumed that the first motor M1 and the second motor M2 are linear servo motors. However, the first motor M1 and the second motor M2 are not limited to linear servo motors and may be rotary servo motors. In this case, the first spindle Y1 and the second spindle Y2 may each have, for example, a rotary servo motor and a ball screw mechanism that converts the rotational motion transmitted from the output shaft of the rotary servo motor into linear motion.

[0020] The synchronous drive system 2 is, as an example, a three-axis drive device. As shown in Figure 1, the synchronous drive system 2 further includes a sub-axis X1 corresponding to the X-axis, and a control device (sub-axis servo amplifier B3) that controls the sub-axis X1, enabling the drive control of a head Z1 provided on the sub-axis X1 along the X-axis. The synchronous drive system 2 may further include a motor and control device for moving the head Z1 in the Z-axis direction. The head Z1 may also be a robot arm, and the synchronous drive system 2 may further include a control device for controlling the robot arm.

[0021] The synchronous drive system 2 can be applied to semiconductor component mounting machines, material processing machines, or product and semi-finished product transport machines within facilities such as factories. For example, the synchronous drive system 2 can pick up an object (workpiece) with the head Z1 (robot arm) of the sub-axis X1, and drive and control the sub-axis X1, the first main axis Y1, and the second main axis Y2 to move the workpiece in the direction of at least one of the X axis and Y axis (in Figure 1, the direction of the Y axis is the axial direction D1).

[0022] The control mode in which the control device C1 controls the first motor M1 and the second motor M2 is selected from a plurality of candidate modes. The plurality of candidate modes include an independent control mode in which table correction is performed, which involves correcting the position of the first movable part Y11 based on first table data corresponding to the first spindle Y1 and correcting the position of the second movable part Y21 based on second table data corresponding to the second spindle Y2, and the first motor M1 and the second motor M2 are controlled independently.

[0023] Incidentally, when the independent control mode is selected as the control mode, if at least one of the first table data and the second table data that are not compatible with the independent control mode is used to correct the positions of the first movable part Y11 and the second movable part Y21, there is a possibility that the above correction may not be performed as intended.

[0024] Therefore, the notification method of Embodiment 1 includes a determination step S3 and a result notification step S4, as shown in Figures 5 and 6 described later. In the determination step S3, if the independent control mode is selected as the control mode, the suitability of at least one of the first table data and the second table data to the control mode is determined. In the result notification step S4, determination result information Im1 (see Figures 3 and 4 described later), which includes the determination result in the determination step S3, is notified. With this configuration, the notification method of Embodiment 1 has the advantage of prompting a switch to an appropriate combination of table data (first table data and second table data), making it easier to correct the positions of the first movable part Y11 of the first spindle Y1 and the second movable part Y21 of the second spindle Y2 as intended.

[0025] Furthermore, the determination device 1 according to Embodiment 1 (Figures 1 and 2) is used in the synchronous drive system 2. Figure 2 is a schematic block diagram of the synchronous drive system 2 according to Embodiment 1. As shown in Figure 2, the determination device 1 includes a determination unit 12. When the independent control mode is selected as the control mode, the determination unit 12 determines the suitability of at least one of the first table data and the second table data for the independent control mode. With this configuration, the determination device 1 of Embodiment 1 has the advantage of prompting a switch to an appropriate combination of table data, making it easier to correct the positions of the first movable part Y11 of the first spindle Y1 and the second movable part Y21 of the second spindle Y2 as intended.

[0026] The notification method of Embodiment 1 is used on the computer system that constitutes the determination device 1. In other words, this notification method can also be implemented as a computer program. A program according to one embodiment is a program that causes one or more processors to execute the above notification method. The program may be recorded on a computer-readable non-temporary recording medium.

[0027] (1-2) Detailed Configuration (1-2-1) Overall Configuration Below, the overall system, including the determination system 10, determination device 1, synchronous drive system 2, and its peripheral configuration according to Embodiment 1, will be described in detail with reference to Figures 1 to 6.

[0028] The determination system 10 is configured to determine the suitability of at least one of the first table data and the second table data to the control modes in which the control device C1 controls the first motor M1 and the second motor M2, respectively, in the synchronous drive system 2. The determination system 10 of Embodiment 1 comprises a determination device 1 (communication terminal 7 in this embodiment) and a synchronous drive system 2, as shown in Figure 2. That is, the determination system 10 of Embodiment 1 comprises a determination device 1 (communication terminal 7), a first spindle Y1 and a second spindle Y2, a first spindle servo amplifier B1 (control device C1), and a second spindle servo amplifier B2 (control device C1). The peripheral configuration, in the illustrated example in Figure 1, is the higher-level controller 6. The higher-level controller 6 may also be treated as part of the configuration of the synchronous drive system 2.

[0029] (1-2-2) Synchronous drive system The synchronous drive system 2 comprises a first spindle Y1, a second spindle Y2, a sub-spindle X1, a head Z1, a first spindle servo amplifier B1 (control device C1), a second spindle servo amplifier B2 (control device C1), and a sub-spindle servo amplifier B3. Hereinafter, for the sake of convenience of explanation, the first spindle servo amplifier B1 may be abbreviated as "first amplifier B1" and the second spindle servo amplifier B2 may be abbreviated as "second amplifier B2".

[0030] (First spindle, second spindle) The first spindle Y1 includes a first motor M1 (linear servo motor) and a position detection unit 81 (linear scale). The first spindle Y1 may also include a speed sensor for detecting the speed of the first motor M1, a thrust sensor for detecting the thrust of the first motor M1, and so on.

[0031] In Embodiment 1, as an example, a first motor M1 and a load driven by the power of the first motor M1 are defined as the drive system A1 (see Figure 1). The load may include a sub-shaft X1, a connecting part that connects the sub-shaft X1 and the first motor M1, and a head Z1, etc.

[0032] Hereinafter, the drive system A1 on the first spindle Y1 side may be referred to as the first drive system A11. If the first motor M1 is a rotary servo motor and is connected to a ball screw mechanism, the rotary servo motor and the ball screw mechanism also become part of the first drive system A11.

[0033] The second spindle Y2 has substantially the same configuration as the first spindle Y1. The second spindle Y2 includes a second motor M2 (linear servo motor) and a position detection unit 81 (linear scale). The second spindle Y2 may also include a speed sensor for detecting the speed of the second motor M2, a thrust sensor for detecting the thrust of the second motor M2, and so on.

[0034] In Embodiment 1, as an example, a second motor M2 and a load driven by the power of the second motor M2 are defined as the drive system A1 (see Figure 1). The load may include a sub-shaft X1, a connecting part that connects the sub-shaft X1 and the second motor M2, and a head Z1, etc.

[0035] Hereinafter, the drive system A1 on the second spindle Y2 side may be referred to as the second drive system A12. If the second motor M2 is a rotary servo motor and is connected to a ball screw mechanism, the rotary servo motor and ball screw mechanism also become part of the second drive system A12.

[0036] As shown in Figure 1, the first spindle Y1 has a first movable part Y11, which is a part (slider) that moves along the Y-axis (axial direction D1), driven by a driving force applied from the first motor M1 along the Y-axis. The first spindle Y1 (first motor M1) drives the first movable part Y11 linearly along the Y-axis according to the control of the first amplifier B1. The second spindle Y2 has a second movable part Y21, which is a part (slider) that moves along the Y-axis, driven by a driving force applied from the second motor M2 along the Y-axis (axial direction D1). The second spindle Y2 (second motor M2) drives the second movable part Y21 linearly along the Y-axis according to the control of the second amplifier B2. However, the first amplifier B1 and the second amplifier B2 control the first motor M1 and the second motor M2, respectively, so that the first movable part Y11 of the first spindle Y1 and the second movable part Y21 of the second spindle Y2 move synchronously in the axial direction D1.

[0037] Although a detailed explanation is omitted here, the sub-axis X1 has a motor (linear servo motor) and a position detection unit (linear scale). The sub-axis X1 drives the load (head Z1) linearly along the X-axis according to the control of the sub-axis servo amplifier B3. The sub-axis X1 is the part that mechanically connects the first main spindle Y1 and the second main spindle Y2. The sub-axis X1 is formed in a rod shape so as to extend along the X-axis direction. The first end of the sub-axis X1 in the X-axis direction is connected to the first movable part Y11 of the first main spindle Y1, and the second end of the sub-axis X1 in the X-axis direction is connected to the second movable part Y21 of the second main spindle Y2.

[0038] Each position detection unit 81 of the first spindle Y1 and the second spindle Y2 is composed of an encoder or the like. Each position detection unit 81 detects the position of the corresponding motor among the first motor M1 and the second motor M2. The position detection unit 81 of the first spindle Y1 outputs a position detection signal (electrical signal) including the detected value related to the position of the first motor M1 to the first amplifier B1. The position detection unit 81 of the second spindle Y2 outputs a position detection signal including the detected value related to the position of the second motor M2 to the second amplifier B2. The first amplifier B1 and the second amplifier B2 synchronously drive and control the first motor M1 and the second motor M2 to execute a predetermined work operation while performing feedback control based on the position detection signal and the control signal for operation from the higher-level controller 6 (hereinafter simply referred to as the control signal).

[0039] (First Amplifier) ​​The first amplifier B1 corresponds to the control device C1 according to Embodiment 1. As shown in Figure 2, the first amplifier B1 includes a processing unit P1, a first indicator light H1, a first storage unit 51, and a power conversion unit (not shown).

[0040] The processing unit P1 includes a computer system having one or more processors and memory. At least some of the functions of the processing unit P1 are realized when the processor of the computer system executes a program recorded in the memory of the computer system. The program may be recorded in memory, provided via a telecommunication line such as the Internet, or provided on a non-temporary recording medium such as a memory card.

[0041] The processing unit P1 includes a first control unit 21, a first table correction unit 31, a first torsion correction unit 41, and a calculation block (not shown).

[0042] The first control unit 21 performs different control depending on whether the independent control mode or the combined mode is selected as the control mode. When the independent control mode is selected as the control mode, the first control unit 21 determines the control value of the first drive system A11. On the other hand, when the combined mode is selected as the control mode, the first control unit 21 determines the control value of the translation axis of the first drive system A11 and the control value of the translation axis of the second drive system A12. The "control value of the translation axis" as used in this disclosure is a value that indicates how much to move the average position (hereinafter referred to as the "intermediate position") of the first movable part Y11 of the first spindle Y1, which is the first drive system A11, and the second movable part Y21 of the second spindle Y2, which is the second drive system A12, in the direction along the translation axis (in the direction parallel to the axial direction D1), when viewed from the Z-axis direction.

[0043] When the independent control mode is selected as the control mode, the first control unit 21 determines the control values ​​for the first drive system A11 according to the control signal for the Y axis from the higher-level controller 6 and the position detection signal from the position detection unit 81 (i.e., the current position of the first motor M1). The control values ​​may include, for example, a command value for the position of the first motor M1 with respect to the Y1 axis, a command value for the thrust of the first motor M1, and a command value for the speed of the first motor M1. Based on the determined control values, the first control unit 21 controls the power conversion unit to adjust the power (drive current) supplied to the first motor M1. As a result, the first control unit 21 drives the first movable part Y11 of the first main shaft Y1 to the target position on the Y1 axis.

[0044] When the independent control mode is selected as the control mode and the first table data is stored in the first storage unit 51, the first table correction unit 31 corrects the control value determined by the first control unit 21 using said first table data, and performs offset correction and real-time correction. The "offset correction" herein refers to correction that reduces the difference between the stop position of the first movable part Y11 of the first spindle Y1 and the target position. In addition, the "real-time correction" enables torsion correction even while the first movable part Y11 of the first spindle Y1 is moving, and as a result, is correction that reduces the difference between the current position and the target position of the first movable part Y11 in a shorter time. The first table correction unit 31 acquires, from the first storage unit 51, a correction value corresponding to the control value determined by the first control unit 21 from among said first table data, and performs correction by adding said correction value to said control value.

[0045] On the other hand, when the combined mode is selected as the control mode, the first control unit 21 operates in accordance with the control signal related to the Y-axis from the host controller 6 and the position detection signals from the respective position detection units 81 of the first spindle Y1 and the second spindle Y2 (that is, the current positions of the first motor M1 and the second motor M2), to determine the control value for the translation shaft of the first drive system A11 and the control value for the translation shaft of the second drive system A12. The arithmetic block calculates the control value of the first drive system A11 based on the control value for the translation shaft of the first drive system A11 determined by the first control unit 21 and the control value for the rotation shaft of the first drive system A11 determined by the second control unit 22 described later. The first control unit 21 controls the power conversion unit based on the control value calculated by the arithmetic block to adjust the power (drive current) supplied to the first motor M1. Thereby, the first control unit 21 drives the first movable part Y11 of the first spindle Y1 to the target position on the Y1 axis.

[0046] When the combined mode is selected as the control mode and the first table data is stored in the first storage unit 51, the first torsion correction unit 41 corrects the control value of the translation shaft of the first drive system A11 and the control value of the translation shaft of the second drive system A12 determined by the first control unit 21 using the first table data, so as to perform torsion correction. The "torsion correction" herein refers to a correction that reduces the positional deviation between the first movable portion Y11 of the first spindle Y1 and the second movable portion Y21 of the second spindle Y2, and is only effective when both the first movable portion Y11 and the second movable portion Y21 are in a stationary state. The first torsion correction unit 41 acquires the correction value corresponding to the control value calculated by the calculation block from the first storage unit 51, and adds the correction value to the control value to perform correction.

[0047] The first indicator light H1 of the first amplifier B1 comprises a light source. The light source includes, for example, one or more LEDs (Light Emitting Diodes). The first indicator light H1 is, for example, provided on the housing of the first amplifier B1. It is assumed that the first indicator light H1 is, for example, one or more 7-segment (7-segment display) lamps. For example, the first indicator light H1 lights up when the power supply of the first amplifier B1 is turned on, and lights up to display numbers or alphabets for indicating various information. It should be noted that the first indicator light H1 is not limited to a 7-segment display.

[0048] When the processing unit P1 receives the error notification signal from the notification control unit 13 of the determination apparatus 1 (communication terminal 7) described later, it changes the lighting state of the first indicator light H1 (7-segment display) from, for example, continuous lighting to blinking. Such a change in lighting state is merely an example and is not limiting. Alternatively, when receiving the error notification signal, the processing unit P1 may change the luminous color of the first indicator light H1 (for example, change the luminous color from green to red).

[0049] The first storage unit 51 includes an electrically rewritable non-volatile semiconductor memory such as a flash memory. The first storage unit 51 is configured to be capable of storing the first table data used in the first table correction unit 31 or the first torsion correction unit 41. The first table data is a table of correction values corresponding to respective predetermined values that may be determined as control values by the first control unit 21.

[0050] (Second Amplifier) ​​The second amplifier B2 corresponds to the control device C1 according to Embodiment 1. In Embodiment 1, as an example, the second amplifier B2 has substantially the same functions as the first amplifier B1. As shown in Figure 2, the second amplifier B2 includes a processing unit P2, a second indicator light H2, a second storage unit 52, and a power conversion unit (not shown).

[0051] The processing unit P2 includes a computer system having one or more processors and memory. At least some of the functions of the processing unit P2 are realized by the execution of a program recorded in the memory of the computer system by the processor of the computer system. The program may be recorded in memory, provided via a telecommunication line such as the Internet, or provided on a non-temporary recording medium such as a memory card.

[0052] The processing unit P2 includes a second control unit 22, a second table correction unit 32, a second torsion correction unit 42, and a calculation block (not shown).

[0053] The second control unit 22 performs different control depending on whether the independent control mode or the combined control mode is selected as the control mode. When the independent control mode is selected as the control mode, the second control unit 22 determines the control value of the second drive system A12. On the other hand, when the combined control mode is selected as the control mode, the second control unit 22 determines the control value of the rotation axis of the first drive system A11 and the control value of the rotation axis of the second drive system A12. In this disclosure, the "control value of the rotation axis" is a value that indicates how much the first movable part Y11 of the first spindle Y1, which is the first drive system A11, or the second movable part Y21 of the second spindle Y2, which is the second drive system A12, is rotated around the aforementioned intermediate position when viewed from the Z-axis direction.

[0054] When the independent control mode is selected as the control mode, the second control unit 22 determines the control values ​​for the second drive system A12 according to the control signal for the Y axis from the upper controller 6 and the position detection signal from the position detection unit 81 (i.e., the current position of the second motor M2). The control values ​​may include, for example, a command value for the position of the second motor M2 with respect to the Y2 axis, a command value for the thrust of the second motor M2, and a command value for the speed of the second motor M2. Based on the determined control values, the second control unit 22 controls the power conversion unit to adjust the power (drive current) supplied to the second motor M2. As a result, the second control unit 22 drives the second movable part Y21 of the second main shaft Y2 to the target position on the Y2 axis.

[0055] When the independent control mode is selected as the control mode and the second table data is stored in the second storage unit 52, the second table correction unit 32 corrects the control value determined by the second control unit 22 using the second table data, and performs offset correction and real-time correction. "Offset correction" here refers to a correction that reduces the difference between the stopping position and the target position of the second movable part Y21 of the second spindle Y2. "Real-time correction" enables twist correction even while the second movable part Y21 of the second spindle Y2 is moving, and as a result, it is a correction that reduces the difference between the current position and the target position of the second movable part Y21 in a shorter time. The second table correction unit 32 obtains a correction value from the second storage unit 52 that corresponds to the control value determined by the second control unit 22 from the second table data, and performs correction by adding the correction value to the control value.

[0056] Meanwhile, when the combined mode is selected as the control mode, the second control unit 22 determines the control value of the rotation axis of the first drive system A11 and the control value of the rotation axis of the second drive system A12 according to the control signal for the Y axis from the upper controller 6 and the position detection signals from the respective position detection units 81 of the first spindle Y1 and the second spindle Y2 (i.e., the current positions of the first motor M1 and the second motor M2). The calculation block calculates the control value of the second drive system A12 based on the control value of the translation axis of the second drive system A12 determined by the first control unit 21 and the control value of the rotation axis of the second drive system A12 determined by the second control unit 22. Based on the control value calculated by the calculation block, the second control unit 22 controls the power conversion unit to adjust the power (drive current) supplied to the second motor M2. As a result, the second control unit 22 drives the second movable part Y21 of the second spindle Y2 to the target position on the Y2 axis.

[0057] The second torsion correction unit 42, when the combined mode is selected as the control mode and the second table data is stored in the second storage unit 52, corrects the control value of the rotation axis of the first drive system A11 and the control value of the rotation axis of the second drive system A12 using the second table data and performs torsion correction. Here, "torsion correction" refers to a correction that reduces the positional misalignment between the first movable part Y11 and the second movable part Y21, which is effective only when the first movable part Y11 of the first spindle Y1 and the second movable part Y21 of the second spindle Y2 are stopped. The second torsion correction unit 42 obtains a correction value corresponding to the control value calculated by the calculation block from the second storage unit 52 and adds the correction value to the control value to perform the correction.

[0058] The second indicator light H2 of the second amplifier B2 has a light source. The light source includes, for example, one or more LEDs. The second indicator light H2 is provided, for example, on the housing of the second amplifier B2. The second indicator light H2 is assumed to be, for example, one or more 7-segment (7-segment display) lamps. The second indicator light H2 lights up, for example, when the power of the second amplifier B2 is turned on, and lights up to show numbers or letters to indicate various information. Note that the second indicator light H2 is not limited to 7-segment displays.

[0059] When the processing unit P2 receives an error notification signal from the notification control unit 13 of the determination device 1 (communication terminal 7), which will be described later, it changes the illumination state of the second indicator light H2 (7-segment display) from, for example, continuous illumination to blinking illumination. Such a change in illumination state is merely an example and is not limited to this. Alternatively, when the processing unit P2 receives an error notification signal, it may change the emission color of the second indicator light H2 (for example, from green to red).

[0060] The second storage unit 52 includes an electrically rewritable non-volatile semiconductor memory such as flash memory. The second storage unit 52 is configured to store second table data used in the second table correction unit 32 or the second torsion correction unit 42. The second table data is a table of correction values ​​corresponding to each predetermined value that the second control unit 22 may determine as a control value.

[0061] (1-2-3) Higher-level controller The higher-level controller 6 includes a computer system having one or more processors and memory. At least some of the functions of the higher-level controller 6 are realized when the processor of the computer system executes a program recorded in the memory of the computer system. The program may be recorded in memory, provided via a telecommunication line such as the Internet, or provided on a non-temporary recording medium such as a memory card.

[0062] The higher-level controller 6 is configured using, for example, a programmable logic controller (PLC), and controls the operation of the first amplifier B1, the second amplifier B2, and the sub-axis servo amplifier B3. The higher-level controller 6 is connected to the first amplifier B1, the second amplifier B2, and the sub-axis servo amplifier B3 in a communicative manner and outputs control signals to these servo amplifiers. In this way, the higher-level controller 6 controls the operation of the first amplifier B1, the second amplifier B2, and the sub-axis servo amplifier B3. The communication method may be wireless or wired. The control signals include data for specifying the X-Y coordinate position and operation of the load, including the head Z1, etc.

[0063] (1-2-4) Communication terminal The communication terminal 7 is assumed to be a notebook computer, as shown in Figure 1. However, the communication terminal 7 may be a tablet or a mobile device such as a smartphone, or it may be a desktop personal computer or a server device.

[0064] The communication terminal 7 is connected to the first amplifier B1 and the second amplifier B2 in a communication-enabled manner. The communication method between the communication terminal 7 and the first amplifier B1 and the second amplifier B2 is not particularly limited and may be wireless or wired. For example, the communication terminal 7 is assumed to be disconnected from the first amplifier B1 and the second amplifier B2 during operation, and to be connected to the first amplifier B1 and the second amplifier B2 only when configuring the settings of the first amplifier B1 and the second amplifier B2. In this disclosure, "configuration of the first amplifier B1 and the second amplifier B2" includes switching control modes, and inputting and modifying table data (first table data and second table data).

[0065] As shown in Figure 2, the communication terminal 7 includes a processing unit 71, an operation unit 72, a storage unit 73, a display unit 74, and a notification unit 75. In the first embodiment of the communication terminal 7, the display unit 74 also serves as the notification unit 75. If the communication terminal 7 does not have a display unit 74, it is preferable that a separate display device is attached to the communication terminal 7.

[0066] The display unit 74 is composed of, for example, a liquid crystal display or an organic EL (Electro-Luminescence) display. The display unit 74 may be composed of a touch panel display.

[0067] The operation unit 72 includes, for example, one or more of the following: a mouse, a keyboard, and a pointing device. The operator operates the operation unit 72 and inputs information while referring to the information displayed on the display unit 74. For example, to start setting up the first amplifier B1 and the second amplifier B2, the operator connects the communication terminal 7 to the first amplifier B1 and the second amplifier B2. The operator then uses the operation unit 72 to launch dedicated application software on the communication terminal 7 and performs input operations related to the settings of the first amplifier B1 and the second amplifier B2. The above input operations include switching instructions related to switching the control modes of the first amplifier B1 and the second amplifier B2, and input instructions and modification instructions for table data (first table data and second table data). If the display unit 74 is configured as a touch panel display, it also functions as the operation unit 72.

[0068] The storage unit 73 includes an electrically rewritable non-volatile semiconductor memory such as flash memory. The storage unit 73 may also be the memory of the processing unit 71.

[0069] The storage unit 73 of Embodiment 1 stores a first determination table shown in Table 1 below and a second determination table shown in Table 2 below. The first determination table is used by the determination unit 12 when the first table data is stored in the first storage unit 51 and the second table data is stored in the second storage unit 52. On the other hand, the second determination table is used by the determination unit 12 when the first table data is stored in the first storage unit 51 and the second table data is not stored in the second storage unit 52, or when the first table data is not stored in the first storage unit 51 and the second table data is stored in the second storage unit 52.

[0070]

[0071]

[0072] The "effect" in the first judgment table indicates the effect of the correction performed by the processing unit P1 of the first amplifier B1 for each combination of control mode and table data similarity or difference. Similarly, the "effect" in the second judgment table indicates the effect of the correction performed by the processing unit P2 of the second amplifier B2 for each combination of control mode and table data presence or absence. Specifically, "〇" (Excellent) indicates that the above correction has an effect, "△" (Good) indicates that the above correction has a slight effect, and "×" (Bad) indicates that the above correction has no effect.

[0073] The notification unit 75 notifies the determination result information Im1 (see Figures 3 and 4, described later) which includes the determination result of the determination unit 12, based on the control of the notification control unit 13. In Embodiment 1, the display unit 74 also functions as the notification unit 75. That is, the display unit 74 displays the determination result information Im1 which includes the determination result of the determination unit 12, based on the control of the notification control unit 13.

[0074] The processing unit 71 includes a computer system having one or more processors and memory. At least some of the functions of the processing unit 71 are realized when the processor of the computer system executes a program recorded in the memory of the computer system. The program may be recorded in memory, provided via a telecommunication line such as the Internet, or provided on a non-temporary recording medium such as a memory card.

[0075] The processing unit 71 has a setting function for the first amplifier B1 and the second amplifier B2, and a determination function for table data (first table data and second table data). The communication terminal 7 has dedicated application software pre-installed to communicate with the first amplifier B1 and the second amplifier B2, and to provide the setting function and the determination function described above. Therefore, the communication terminal 7 functions as the determination device 1.

[0076] The processing unit 71 includes a mode switching unit 11, a determination unit 12, a notification control unit 13, a simulation unit 14, a switching recommendation unit 15, and a correction recommendation unit 16.

[0077] The mode switching unit 11 switches the control mode in which the control device C1 controls the first motor M1 and the second motor M2 in response to the operator's input. More specifically, the mode switching unit 11 switches to the control mode selected by the operator's input from among a plurality of candidate modes. The plurality of candidate modes include the independent control mode described above and the combined control mode described above.

[0078] The determination unit 12 determines the suitability of at least one of the first table data and the second table data for the control mode when the control mode is switched by the mode switching unit 11. The determination unit 12 reads at least one of the first table data stored in the first storage unit 51 of the first amplifier B1 and the second table data stored in the second storage unit 52 of the second amplifier B2, and determines the suitability of at least one of the first table data and the second table data for the control mode.

[0079] The determination unit 12 determines the suitability of at least one of the first table data and the second table data for the independent control mode when the independent control mode is selected as the control mode. The determination unit 12 also determines the suitability of at least one of the first table data and the second table data for the combined mode when the combined mode is selected as the control mode. In short, the determination unit 12 determines the suitability of at least one of the first table data and the second table data for the control mode depending on whether the independent control mode or the combined mode is selected as the control mode.

[0080] If the first table data is stored in the first storage unit 51 and the second table data is stored in the second storage unit 52, the determination unit 12 determines the suitability of both the first table data and the second table data to the control mode. If the first table data is stored in the first storage unit 51 but the second table data is not stored in the second storage unit 52, the determination unit 12 determines the suitability of the first table data to the control mode. Similarly, if the first table data is not stored in the first storage unit 51 but the second table data is stored in the second storage unit 52, the determination unit 12 determines the suitability of the second table data to the control mode.

[0081] The determination unit 12 of Embodiment 1 determines the above-mentioned suitability based on the presence or absence of at least the first table data and the second table data, depending on whether the independent control mode or the combined mode is selected as the control mode. More specifically, the determination unit 12 of Embodiment 1 determines the above-mentioned suitability based on the presence or absence of the first table data and the second table data, and whether the first table data and the second table data are identical, when the first table data is stored in the first storage unit 51 and the second table data is stored in the second storage unit 52. On the other hand, the determination unit 12 of Embodiment 1 determines the above-mentioned suitability based on the presence or absence of the first table data and the second table data, when the first table data is stored in the first storage unit 51 and the second table data is not stored in the second storage unit 52, or when the first table data is not stored in the first storage unit 51 and the second table data is stored in the second storage unit 52.

[0082] More specifically, in Embodiment 1, if the first table data is stored in the first storage unit 51 and the second table data is stored in the second storage unit 52, the determination unit 12 uses the first determination table stored in the storage unit 73 to determine the suitability of both the first table data and the second table data to the control mode described above.

[0083] More specifically, the determination unit 12 of Embodiment 1 uses the above-mentioned first determination table to determine that if the independent control mode is selected as the control mode and the first table data and the second table data are identical, then at least one of the first table data and the second table data is not compatible with the independent control mode, and the compatibility is such that a warning is required. Also, the determination unit 12 of Embodiment 1 uses the above-mentioned first determination table to determine that if the independent control mode is selected as the control mode and the first table data and the second table data are different (not identical), then both the first table data and the second table data are compatible with the independent control mode, and the compatibility is such that there is no problem. Also, the determination unit 12 of Embodiment 1 uses the above-mentioned first determination table to determine that if the combined mode is selected as the control mode and the first table data and the second table data are identical, then at least one of the first table data and the second table data is not compatible with the combined mode, and the compatibility is such that an error display is required. Furthermore, the determination unit 12 of Embodiment 1, using the first determination table described above, determines that the combined mode is selected as the control mode, and that the first table data and the second table data are different, and that both the first table data and the second table data are suitable for the combined mode, and that the suitability is optimal.

[0084] On the other hand, in the first embodiment, the determination unit 12 determines the suitability of the first table data or the second table data for the control mode using the second determination table stored in the storage unit 73 if the first table data is stored in the first storage unit 51 and the second table data is not stored in the second storage unit 52, or if the first table data is not stored in the first storage unit 51 and the second table data is stored in the second storage unit 52.

[0085] More specifically, the determination unit 12 of Embodiment 1 uses the second determination table described above to determine that if the independent control mode is selected as the control mode, the first table data is stored in the first storage unit 51, and the second table data is not stored in the second storage unit 52, then the first table data is not compatible with the independent control mode, and the compatibility of the first table data requires attention. Similarly, the determination unit 12 of Embodiment 1 uses the second determination table described above to determine that if the independent control mode is selected as the control mode, the first table data is not stored in the first storage unit 51, and the second table data is stored in the second storage unit 52, then the second table data is not compatible with the independent control mode, and the compatibility of the second table data requires attention. Furthermore, the determination unit 12 of Embodiment 1 uses the second determination table described above to determine that the combined mode is selected as the control mode, the first table data is stored in the first storage unit 51, and the second table data is not stored in the second storage unit 52, in which case the first table data is compatible with the combined mode and the compatibility of the first table data is without problems. Similarly, the determination unit 12 of Embodiment 1 uses the second determination table described above to determine that the combined mode is selected as the control mode, the first table data is not stored in the first storage unit 51, and the second table data is stored in the second storage unit 52, in which case the second table data is compatible with the combined mode and the compatibility of the second table data is without problems.

[0086] The notification control unit 13 causes the notification unit 75 to notify the notification unit 75 of the determination result information Im1 (see Figures 3 and 4, described later), which includes the determination result of the determination unit 12. In the first embodiment, the notification control unit 13 displays the determination result information Im1, which includes the determination result of the determination unit 12, on the display unit 74.

[0087] Figure 3 is an explanatory diagram illustrating the notification method and determination result information of the determination device 1 according to Embodiment 1. When the determination unit 12 determines that at least one of the first table data and the second table data is not suitable for the combined mode, the determination result information Im1 that the notification control unit 13 has the notification unit 75 notify (display on the display unit 74) includes table data information Im11 and notification information Im12, as shown in Figure 3. The table data information Im11 indicates both the presence or absence of the first table data and the second table data, and whether or not the first table data and the second table data are identical. The notification information Im12 is linked to the determination result.

[0088] Figure 3 shows, as an example, the determination result information Im1 when the determination unit 12 determines that at least one of the first table data and the second table data is not compatible with the combined mode, and that the compatibility of the first table data and the second table data with respect to the combined mode requires an error display.

[0089] The table data information Im11 shown in Figure 3 indicates that the first storage unit 51 of the first amplifier B1, which is driven as a "translational axis amplifier," stores "table data A" as the first table data, and the second storage unit 52 of the second amplifier B2, which is driven as a "rotation axis amplifier," stores "table data A" as the second table data. In short, the table data information Im11 shown in Figure 3 indicates that both the first table data and the second table data exist, and that the first table data and the second table data are identical. Note that the table data information Im11 only needs to indicate at least one of the following: whether or not the first table data and the second table data exist, and whether or not the first table data and the second table data are identical.

[0090] The notification information Im12 shown in Figure 3 is linked to the determination result that the determination unit 12 determined to be necessary to display an error. More specifically, the notification information Im12 shown in Figure 3 is the information "[Error]: Correction is not possible because the same table has been entered."

[0091] Furthermore, if the determination unit 12 determines that at least one of the first table data and the second table data is not suitable for the combined mode, the determination result information Im1 that the notification control unit 13 notifies the notification unit 75 may further include combination information indicating a combination of the first table data and the second table data that is suitable for the combined mode. The above determination result information Im1 only needs to include at least one of the following: table data information Im11, notification information Im12, and the above combination information.

[0092] Furthermore, if the determination unit 12 determines that the compatibility of the first table data and the second table data with respect to the control mode requires an error display, the notification control unit 13 causes the first amplifier B1 and the second amplifier B2 to notify the error. In Embodiment 1, if the determination unit 12 determines that the compatibility of the first table data and the second table data with respect to the combined mode requires an error display, the notification control unit 13 transmits an error notification signal to the processing unit P1 of the first amplifier B1 and the processing unit P2 of the second amplifier B2, and changes the lighting state of the first indicator light H1 of the first amplifier B1 and the second indicator light H2 of the second amplifier B2, respectively.

[0093] Figure 4 is an explanatory diagram illustrating another determination result information of the notification method and determination device 1 according to Embodiment 1. When the determination unit 12 determines that at least one of the first table data and the second table data is not suitable for the independent control mode, the determination result information Im1 that the notification control unit 13 notifies the notification unit 75 includes table data information Im11 and notification information Im12, as shown in Figure 4. As an example, Figure 4 shows the determination result information Im1 when the determination unit 12 determines that at least one of the first table data and the second table data is not suitable for the independent control mode, and that the suitability of the first table data and the second table data for the independent control mode requires a warning.

[0094] The table data information Im11 shown in Figure 4 indicates that the first storage unit 51 of the first amplifier B1, which is driven as the "M-axis amplifier," stores "table data A" as the first table data, and the second storage unit 52 of the second amplifier B2, which is driven as the "A-axis amplifier," stores "table data A" as the second table data. In short, the table data information Im11 shown in Figure 4 indicates that both first and second table data exist, and that the first and second table data are identical.

[0095] The notification information Im12 shown in Figure 4 is linked to the determination result that the determination unit 12 determined to be necessary to issue a warning. More specifically, the notification information Im12 shown in Figure 4 is the information "[Warning]: Because the M axis and S axis are on the same table, the twist correction effect may not be obtained."

[0096] When the control mode is switched by the mode switching unit 11, the simulation unit 14 displays the simulation results of the first movable part Y11 of the first spindle Y1 and the second movable part Y21 of the second spindle Y2, which are controlled according to the switched control mode, on the display unit 74. More specifically, when the control mode is switched by the mode switching unit 11, the simulation unit 14 displays the simulation results on the display unit 74 of how much the first movable part Y11 of the first spindle Y1 is driven, based on the control value of the first drive system A11 which has been corrected and determined (calculated) by the processing unit P1 of the first amplifier B1 using the first table data, according to the switched control mode. Similarly, when the control mode is switched by the mode switching unit 11, the simulation unit 14 displays on the display unit 74 the result of a simulation of how much the second movable part Y21 of the second spindle Y2 is driven, based on the control value of the second drive system A12 that has been corrected (calculated) by the processing unit P2 of the second amplifier B2 using the second table data, according to the control mode after the switch.

[0097] In Embodiment 1, when the control mode is switched by the mode switching unit 11, the simulation unit 14 further displays the simulation results of the first movable part Y11 of the first spindle Y1 and the second movable part Y21 of the second spindle Y2, which are controlled according to the control mode before the switch, on the display unit 74. More specifically, when the control mode is switched by the mode switching unit 11, the simulation unit 14 displays on the display unit 74 the simulation results of how much the first movable part Y11 of the first spindle Y1 is driven, based on the control value of the first drive system A11 which has been corrected and determined (calculated) by the processing unit P1 of the first amplifier B1 using first table data, according to the control mode before the switch. Similarly, when the control mode is switched by the mode switching unit 11, the simulation unit 14 displays on the display unit 74 the result of a simulation of how much the second movable part Y21 of the second spindle Y2 is driven, based on the control value of the second drive system A12 that has been corrected (calculated) by the processing unit P2 of the second amplifier B2 using the second table data according to the control mode before the switch.

[0098] In Embodiment 1, if the determination unit 12 determines that the suitability of the first table data and the second table data to the control mode requires error display, the simulation unit 14 does not perform the simulation and does not display the simulation results on the display unit 74.

[0099] The switching recommendation unit 15, when the determination unit 12 determines that at least one of the first table data and the second table data is not suitable for the currently selected control mode, causes the notification unit 75 to notify the switching recommendation unit 15 of switching recommendation information Im3 (see Figure 4) recommending switching from the above control mode to another control mode. More specifically, the switching recommendation unit 15, when the independent control mode is selected as the control mode and the determination unit 12 determines that at least one of the first table data and the second table data is not suitable for the independent control mode, causes the switching recommendation unit 15 to notify the notification unit 75 of switching recommendation information Im3 recommending switching the control mode to the combined mode. Similarly, the switching recommendation unit 15, when the combined mode is selected as the control mode and the determination unit 12 determines that at least one of the first table data and the second table data is not suitable for the independent control mode, causes the notification unit 75 to notify the switching recommendation unit 15 of switching recommendation information Im3 recommending switching the control mode to the independent control mode.

[0100] The switching recommendation unit 15 of Embodiment 1 displays the switching recommendation information Im3 on the display unit 74. As shown in Figure 4, the switching recommendation unit 15 of Embodiment 1 displays the switching recommendation information Im3 on the display unit 74 so that the notification information Im12 of the determination result information Im1 displayed by the notification control unit 13 includes the switching recommendation information Im3. The switching recommendation information Im3 shown in Figure 4 is the information, "We recommend switching to the combined mode."

[0101] If the determination unit 12 determines that at least one of the first table data and the second table data is not suitable for the currently selected control mode, the correction recommendation unit 16 causes the notification unit 75 to notify the correction recommendation unit 16 of correction recommendation information Im4 (see Figure 4), which recommends that at least one of the first table data and the second table data be modified to data suitable for the control mode. More specifically, if the independent control mode is selected as the control mode, and the determination unit 12 determines that at least one of the first table data and the second table data is not suitable for the independent control mode, the correction recommendation unit 16 causes the notification unit 75 to notify the correction recommendation unit 16 of correction recommendation information Im4, which recommends that at least one of the first table data and the second table data be modified to data suitable for the independent control mode. Similarly, if the combined mode is selected as the control mode and the determination unit 12 determines that at least one of the first table data and the second table data is not compatible with the combined mode, the correction recommendation unit 16 causes the notification unit 75 to notify the correction recommendation unit 16 of correction recommendation information Im4, which recommends correcting at least one of the first table data and the second table data to data compatible with the combined mode.

[0102] The correction recommendation unit 16 of Embodiment 1 displays the correction recommendation information Im4 on the display unit 74. The switching recommendation unit 15 of Embodiment 1 displays the correction recommendation information Im4 on the display unit 74 so that the correction recommendation information Im4 is included in the notification information Im12 of the judgment result information Im1 displayed by the notification control unit 13, as shown in Figure 4. The correction recommendation information Im4 shown in Figure 4 is the information, "We recommend changing the table data."

[0103] (1-3) Notification Method Next, a notification method by which the determination system 10 of Embodiment 1 notifies the determination result information Im1 including the determination result of the determination unit 12 will be described with reference to Figures 5 and 6. Figure 5 is a sequence diagram of the notification method according to Embodiment 1. Figure 6 is another sequence diagram of the notification method according to Embodiment 1.

[0104] The notification method of Embodiment 1, as shown in Figures 5 and 6, includes a switching step S1, a data reading step S2, a determination step S3, a result notification step S4, a simulation display step S5, a switching recommendation step S6, a correction recommendation step S7, and a reception step S8. Figure 5 shows the notification method in cases other than when the determination unit 12 determines that the suitability of the first table data and the second table data to the control mode requires an error display. On the other hand, Figure 6 shows the notification method when the determination unit 12 determines that the suitability of the first table data and the second table data to the control mode requires an error display.

[0105] In switching step S1, the mode switching unit 11 switches the control mode in which the control device C1 controls the first motor M1 and the second motor M2 in response to the operator's input. More specifically, in switching step S1, the mode switching unit 11 switches to the control mode selected by the operator's input from among a plurality of candidate modes. Then, in data reading step S2, the determination unit 12 reads at least one of the first table data stored in the first storage unit 51 of the first amplifier B1 and the second table data stored in the second storage unit 52 of the second amplifier B2. After that, in determination step S3, the determination unit 12 determines the suitability of at least one of the first table data and the second table data to the control mode switched in switching step S1.

[0106] In determination step S3, the determination unit 12 determines the suitability of at least one of the first table data and the second table data for the independent control mode if the independent control mode is selected as the control mode. Also in determination step S3, the determination unit 12 determines the suitability of at least one of the first table data and the second table data for the combined mode if the combined mode is selected as the control mode. In short, in determination step S3, the determination unit 12 determines the suitability of at least one of the first table data and the second table data for the control mode depending on whether the independent control mode or the combined mode is selected as the control mode.

[0107] In the determination step S3, if the first table data is stored in the first storage unit 51 and the second table data is stored in the second storage unit 52, the determination unit 12 determines the suitability of at least one of the first table data and the second table data for the control mode. Also, in the determination step S3, if the first table data is stored in the first storage unit 51 and the second table data is not stored in the second storage unit 52, the determination unit 12 determines the suitability of the first table data for the control mode. Similarly, in the determination step S3, if the first table data is not stored in the first storage unit 51 and the second table data is stored in the second storage unit 52, the determination unit 12 determines the suitability of the second table data for the control mode.

[0108] In the determination step S3 of Embodiment 1, the determination unit 12 determines the above-mentioned suitability based on the presence or absence of at least the first table data and the second table data, depending on whether the independent control mode or the combined mode is selected as the control mode. More specifically, in the determination step S3 of Embodiment 1, if the first table data is stored in the first storage unit 51 and the second table data is stored in the second storage unit 52, the determination unit 12 determines the above-mentioned suitability based on the presence or absence of the first table data and the second table data, and whether or not the first table data and the second table data are the same. On the other hand, in the determination step S3 of Embodiment 1, if the first table data is stored in the first storage unit 51 and the second table data is not stored in the second storage unit 52, or if the first table data is not stored in the first storage unit 51 and the second table data is stored in the second storage unit 52, the determination unit 12 determines the above-mentioned suitability based on the presence or absence of the first table data and the second table data.

[0109] More specifically, in the determination step S3 of Embodiment 1, if the first table data is stored in the first storage unit 51 and the second table data is stored in the second storage unit 52, the determination unit 12 uses the first determination table stored in the storage unit 73 to determine the suitability of both the first table data and the second table data to the control mode described above. On the other hand, in the determination step S3 of Embodiment 1, if the first table data is stored in the first storage unit 51 and the second table data is not stored in the second storage unit 52, or if the first table data is not stored in the first storage unit 51 and the second table data is stored in the second storage unit 52, the determination unit 12 uses the second determination table stored in the storage unit 73 to determine the suitability of either the first table data or the second table data to the control mode described above.

[0110] Then, in the result notification step S4, the notification control unit 13 causes the notification unit 75 to notify the notification unit 75 of the determination result information Im1, which includes the determination result of the determination unit 12 in the determination step S3. In the result notification step S4 of the first embodiment, the notification control unit 13 displays the determination result information Im1, which includes the determination result of the determination unit 12 in the determination step S3, on the display unit 74.

[0111] Furthermore, in the result notification step S4, if the determination unit 12 determines in the determination step S3 that the suitability of the first table data and the second table data for the control mode requires an error display, the notification control unit 13 causes the first amplifier B1 and the second amplifier B2 to notify an error, as shown in Figure 6 (step S4a). In the result notification step S4 of Embodiment 1, if the determination unit 12 determines that the suitability of the first table data and the second table data for the combined mode requires an error display, the notification control unit 13 transmits an error notification signal to the processing unit P1 of the first amplifier B1 and the processing unit P2 of the second amplifier B2, and changes the lighting state of the first indicator light H1 of the first amplifier B1 and the second indicator light H2 of the second amplifier B2, respectively.

[0112] Subsequently, in the simulation display step S5, the simulation unit 14 displays the simulation results of the first movable part Y11 of the first spindle Y1 and the second movable part Y21 of the second spindle Y2, which are controlled according to the control mode switched in the switching step S1, on the display unit 74. More specifically, in the simulation display step S5, the simulation unit 14 displays the simulation results on the display unit 74 of how much the first movable part Y11 of the first spindle Y1 is driven, based on the control value of the first drive system A11 which has been corrected and determined (calculated) by the processing unit P1 of the first amplifier B1 using the first table data, according to the control mode switched in the switching step S1. Similarly, in the simulation display step S5, the simulation unit 14 displays on the display unit 74 the results of a simulation showing how much the second movable part Y21 of the second spindle Y2 is driven, based on the control value of the second drive system A12 that has been corrected (calculated) by the processing unit P2 of the second amplifier B2 using the second table data, according to the control mode switched in the switching step S1.

[0113] In the simulation display step S5 of Embodiment 1, the simulation unit 14 further displays the simulation results of the first movable part Y11 of the first spindle Y1 and the second movable part Y21 of the second spindle Y2, which are controlled according to the control mode before switching in the switching step S1, on the display unit 74. More specifically, in the simulation display step S5, the simulation unit 14 displays on the display unit 74 the simulation results of how much the first movable part Y11 of the first spindle Y1 is driven, based on the control value of the first drive system A11 which has been corrected and determined (calculated) by the processing unit P1 of the first amplifier B1 using the first table data, according to the control mode before switching in the switching step S1. Similarly, in the simulation display step S5, the simulation unit 14 displays on the display unit 74 the result of a simulation showing how much the second movable part Y21 of the second spindle Y2 is driven, based on the control value of the second drive system A12 that has been corrected (calculated) by the processing unit P2 of the second amplifier B2 using the second table data, according to the control mode before switching in the switching step S1.

[0114] In the simulation display step S5 of Embodiment 1, if the determination unit 12 determines in the determination step S3 that the suitability of the first table data and the second table data to the control mode requires an error display, the simulation unit 14 will not display the simulation results on the display unit 74. That is, as shown in Figure 6, if the determination unit 12 determines in the determination step S3 that the suitability of the first table data and the second table data to the control mode requires an error display, the simulation unit 14 will not perform the simulation display step S5.

[0115] In the switching recommendation step S6, the switching recommendation unit 15 notifies the notification unit 75 of switching recommendation information Im3 (see Figure 4), recommending that the control mode be switched to another control mode, if the determination unit 12 determines in the determination step S3 that at least one of the first table data and the second table data is not suitable for the currently selected control mode. More specifically, in the switching recommendation step S6, the switching recommendation unit 15 notifies the notification unit 75 of switching recommendation information Im3, recommending that the control mode be switched to the combined mode, if the independent control mode is selected as the control mode and the determination unit 12 determines in the determination step S3 that at least one of the first table data and the second table data is not suitable for the independent control mode. Similarly, in the switching recommendation step S6, the switching recommendation unit 15 notifies the notification unit 75 of switching recommendation information Im3 recommending switching the control mode to independent control mode if the combined mode is selected as the control mode and the determination unit 12 determines in the determination step S3 that at least one of the first table data and the second table data is not suitable for independent control mode.

[0116] In the correction recommendation step S7, if the determination unit 12 determines in the determination step S3 that at least one of the first table data and the second table data is not suitable for the currently selected control mode, the correction recommendation unit 16 causes the notification unit 75 to notify correction recommendation information Im4 (see Figure 4) recommending that at least one of the first table data and the second table data be corrected to data suitable for the control mode. More specifically, in the correction recommendation step S7, if the independent control mode is selected as the control mode, and the determination unit 12 determines in the determination step S3 that at least one of the first table data and the second table data is not suitable for the independent control mode, the correction recommendation unit 16 causes the notification unit 75 to notify correction recommendation information Im4 recommending that at least one of the first table data and the second table data be corrected to data suitable for the independent control mode. Similarly, in the correction recommendation step S7, the correction recommendation unit 16, if the combined mode is selected as the control mode and the determination unit 12 determines in the determination step S3 that at least one of the first table data and the second table data is not suitable for the combined mode, will notify the notification unit 75 of correction recommendation information Im4, which recommends correcting at least one of the first table data and the second table data to data suitable for the combined mode.

[0117] In the notification method of Embodiment 1, the simulation display step S5, the switching recommendation step S6, and the correction recommendation step S7 are performed at the same timing as the result notification step S4.

[0118] Then, in the reception step S8, the operation unit 72 receives a switching instruction to switch the control mode at a timing after the result notification step S4 has been performed. The reception step S8 may also be performed while the result notification step S4 is being performed. That is, in the reception step S8, the operation unit 72 receives a switching instruction to switch the control mode at a timing after the result notification step S4 has been performed, or while the result notification step S4 is being performed. If the operation unit 72 receives a switching instruction in the reception step S8, the mode switching unit 11 performs the switching step S1 to switch the control mode again.

[0119] (1-4) Advantages The notification method of Embodiment 1 includes a determination step S3 and a result notification step S4. In the determination step S3, if the independent control mode is selected as the control mode, the suitability of at least one of the first table data and the second table data for the independent control mode is determined. In the result notification step S4, determination result information Im1 including the determination result of the determination unit 12 is notified. This has the advantage of prompting a switch to the appropriate combination of table data (first table data and second table data), making it easier to correct the positions of the first movable part Y11 of the first spindle Y1 and the second movable part Y21 of the second spindle Y2 as intended.

[0120] In the determination step S3 of the notification method of Embodiment 1, the determination unit 12 determines the suitability of at least one of the first table data and the second table data for the combined mode when the combined mode is selected as the control mode. This has the advantage of prompting a switch to an appropriate combination of table data and making it easier to correct the positions of the first movable part Y11 of the first spindle Y1 and the second movable part Y21 of the second spindle Y2 as intended when controlling in the combined mode.

[0121] In the determination step S3 of the notification method of Embodiment 1, the suitability of at least one of the first table data and the second table data for the control mode is determined depending on whether the independent control mode or the combined mode is selected as the control mode. This has the advantage of prompting a switch to an appropriate combination of table data, making it easier to correct the positions of the first movable part Y11 of the first spindle Y1 and the second movable part Y21 of the second spindle Y2 as intended when controlling in independent control mode or combined mode.

[0122] The notification method of Embodiment 1 includes a switching recommendation step S6 that recommends switching the control mode to a combined mode if the independent control mode is selected as the control mode and the determination step S3 determines that at least one of the first table data and the second table data is not suitable for the independent control mode. This has the advantage of encouraging a switch from the independent control mode to the combined mode, and making it easier to correct the positions of the first movable part Y11 of the first spindle Y1 and the second movable part Y21 of the second spindle Y2 when controlling in the combined mode, as intended.

[0123] The notification method of Embodiment 1 includes a correction recommendation step S7 which recommends correcting at least one of the first table data and the second table data to data that is compatible with the combined mode, when the combined mode is selected as the control mode and the determination step S3 determines that at least one of the first table data and the second table data is not compatible with the combined mode. This has the advantage of encouraging switching to an appropriate combination of table data and making it easier to correct the positions of the first movable part Y11 of the first spindle Y1 and the second movable part Y21 of the second spindle Y2 when controlling in the combined mode, as intended.

[0124] In the notification method of Embodiment 1, the determination result information Im1 notified in the result notification step S4 when the determination unit 12 determines that at least one of the first table data and the second table data is not suitable for the combined mode includes at least one of table data information Im11, notification information Im12, and combination information. The table data information Im11 indicates both the presence or absence of the first table data and the second table data, and whether or not the first table data and the second table data are identical. The notification information Im12 is linked to the determination result. The combination information indicates a combination of the first table data and the second table data that is suitable for the combined mode. This has the advantage of more strongly encouraging switching to an appropriate combination of table data.

[0125] In the determination step S3 of the notification method of Embodiment 1, the suitability of at least one of the first table data and the second table data for the control mode is determined based on the presence or absence of at least the first table data and the second table data. This has the advantage that the suitability of at least one of the first table data and the second table data for the control mode can be easily determined.

[0126] In the determination step S3 of the notification method of Embodiment 1, the suitability of at least one of the first table data and the second table data for the control mode is determined based on the presence or absence of the first table data and the second table data, and whether or not the first table data and the second table data are identical. This has the advantage that the suitability of at least one of the first table data and the second table data for the control mode can be accurately determined.

[0127] The notification method of Embodiment 1 includes a correction recommendation step S7 which recommends correcting at least one of the first table data and the second table data to data that is suitable for the control mode, if the determination unit 12 determines in the determination step S3 that at least one of the first table data and the second table data is not suitable for the currently selected control mode. This has the advantage of more strongly encouraging switching to an appropriate combination of table data and making it easier to correct the positions of the first movable part Y11 of the first spindle Y1 and the second movable part Y21 of the second spindle Y2 as intended.

[0128] The notification method of Embodiment 1 includes a reception step S8 and a switching step S1. In the reception step S8, a switching instruction to switch the control mode is received at a timing after the result notification step S4 has been performed, or while the result notification step is being performed. In the switching step S1, the control mode is switched when a switching instruction is received in the reception step S8. This has the advantage of making it easier to switch to the control mode.

[0129] In the notification method of Embodiment 1, when the determination unit 12 determines that at least one of the first table data and the second table data is not suitable for the independent control mode, the determination result information Im1 notified in the result notification step S4 includes at least one of table data information Im11, notification information Im12, and combination information. The table data information Im11 indicates both the presence or absence of the first table data and the second table data, and whether or not the first table data and the second table data are identical. The notification information Im12 is linked to the determination result. The combination information indicates a combination of the first table data and the second table data that is suitable for the independent control mode. This has the advantage of more strongly encouraging switching to an appropriate combination of table data.

[0130] The determination device 1 of Embodiment 1 includes a determination unit 12. When the independent control mode is selected as the control mode, the determination unit 12 determines the suitability of at least one of the first table data and the second table data for the independent control mode. This has the advantage that the determination device 1 of Embodiment 1 prompts switching to an appropriate combination of table data, making it easier to correct the positions of the first movable part Y11 of the first spindle Y1 and the second movable part Y21 of the second spindle Y2 as intended.

[0131] The determination system 10 of Embodiment 1 comprises a first spindle Y1 and a second spindle Y2, a control device C1, and a communication terminal 7. The first spindle and the second spindle are connected parallel to each other via a sub-spindle X1. The first spindle has a first motor M1. The second spindle has a second motor M2. The control device C1 controls the first motor M1 and the second motor M2, respectively, so that the first movable part Y11 of the first spindle Y1 and the second movable part Y21 of the second spindle Y2 move in the axial direction, according to the control mode. The communication terminal 7 is connected to the control device C1 in a communicative manner. The communication terminal 7 includes a determination unit 12. When the independent control mode is selected as the control mode, the determination unit 12 determines the suitability of at least one of the first table data and the second table data for the independent control mode. As a result, the determination system 10 of Embodiment 1 has the advantage of prompting a switch to an appropriate combination of table data, making it easier to correct the positions of the first movable part Y11 of the first spindle Y1 and the second movable part Y21 of the second spindle Y2 as intended.

[0132] (1-5) Modifications The above-described Embodiment 1 is merely one of many embodiments of the present disclosure. Embodiment 1 can be modified in various ways depending on the design, etc., as long as the objectives of the present disclosure are achieved. The following modifications may be implemented by combining them as appropriate. Components similar to those in Embodiment 1 are denoted by the same reference numerals and their descriptions are omitted.

[0133] (1-5-1) Modification 1 Figure 7 is a flowchart used in the notification method and determination device 1 according to Modification 1 of Embodiment 1. The determination unit 12 of the determination system 10 (determination device 1) of Modification 1 determines the suitability of at least one of the first table data and the second table data for the control mode using the flowchart shown in Figure 7, rather than a determination table.

[0134] A notification method by which the determination system 10 of Modified Example 1 notifies the determination result information Im1, which includes the determination result of the determination unit 12, will be explained with reference to Figure 7.

[0135] The notification method of Modification 1 includes, similar to the embodiment described above, a switching step S1, a data reading step S2, a determination step S3, a result notification step S4, a simulation display step S5, a switching recommendation step S6, a correction recommendation step S7, and a reception step S8. Since the switching step S1, data reading step S2, simulation display step S5, switching recommendation step S6, correction recommendation step S7, and reception step S8 are the same as in the embodiment described above, a detailed explanation is omitted.

[0136] In the determination step S3, first, the determination unit 12 determines whether or not table data corresponding to both axes is stored (step S31). If the determination unit 12 determines that table data corresponding to both axes is stored (step S31: Yes), it determines whether or not independent control mode is selected as the control mode (step S32). Similarly, if the determination unit 12 determines that table data corresponding to both axes is not stored (step S31: No), it determines whether or not independent control mode is selected as the control mode (step S35).

[0137] If the determination unit 12 determines in step S32 that the independent control mode has been selected as the control mode (step S32: Yes), it determines whether the table data corresponding to both axes are the same (step S33). If the determination unit 12 determines that the table data corresponding to both axes are the same (step S33: Yes), the determination unit 12 determines that at least one of the first table data and the second table data is not compatible with the independent control mode, and that the above compatibility requires a warning. In the result notification step S4, the notification control unit 13 causes the notification unit 75 to notify the notification unit 75 of the determination result information Im1, which includes notification information Im12 presenting a "warning," that is, to display it on the display unit 74 (step S41). On the other hand, if the determination unit 12 determines that the table data corresponding to both axes are not the same (step S33: No), the determination unit 12 determines that the first table data is suitable for the combined mode and that there is no problem with the suitability of the first table data. In the result notification step S4, the notification control unit 13 does not notify the notification unit 75 of the determination result information Im1 (does not display it on the display unit 74).

[0138] On the other hand, if the determination unit 12 determines in step S32 that the independent control mode is not selected as the control mode, that is, that the combined mode is selected as the control mode (step S32: No), it determines whether the table data corresponding to both axes are the same (step S34). If the determination unit 12 determines that the table data corresponding to both axes are the same (step S34: Yes), the determination unit 12 determines that at least one of the first table data and the second table data is not compatible with the combined mode, and that the above compatibility requires an error display. In the result notification step S4, the notification control unit 13 causes the notification unit 75 to notify the notification unit 75 of the determination result information Im1, which includes notification information Im12 indicating "Error" (step S42). On the other hand, if the determination unit 12 determines that the table data corresponding to both axes are not the same (step S34: No), the determination unit 12 determines that both the first table data and the second table data are suitable for the combined mode and that the suitability is optimal. In the result notification step S4, the notification control unit 13 causes the notification unit 75 to notify the notification unit 75 of the determination result information Im1, which includes notification information Im12 indicating "optimal" (step S43).

[0139] If the determination unit 12 determines in step S35 that the independent control mode is selected as the control mode (step S35: Yes), it determines that the first table data or the second table data is not suitable for the independent control mode, and that the suitability of the first table data or the second table data requires attention. In the result notification step S4, the notification control unit 13 notifies the notification unit 75 of the determination result information Im1, which includes notification information Im12 indicating "Caution" (step S44). On the other hand, if the determination unit 12 determines in step S35 that the independent control mode is not selected as the control mode, that is, that the combined mode is selected as the control mode (step S35: No), the determination unit 12 determines that the first table data or the second table data is suitable for the combined mode, and that there is no problem with the suitability of the first table data or the second table data. In the result notification step S4, the notification control unit 13 does not notify the notification unit 75 of the determination result information Im1.

[0140] (1-5-2) Other Modifications The following lists other modifications of the embodiments described above.

[0141] The embodiments described above are merely one of many embodiments of this disclosure. The embodiments described above can be modified in various ways depending on the design, etc., as long as the objectives of this disclosure are achieved. Furthermore, functions similar to those of the determination device 1 and determination system 10 according to the embodiments described above may be embodied in a computer program, or a non-temporary recording medium on which the program is recorded. A program according to one embodiment is a program that causes a computer system to execute the notification method of the determination device 1 and determination system 10 in the embodiments described above.

[0142] The determination system 10 in this disclosure includes a computer system. The computer system mainly consists of a processor and memory as hardware. The function of the determination system 10 in this disclosure is realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory of the computer system, provided via a telecommunications line, or provided on a non-temporary recording medium such as a memory card, optical disk, or hard disk drive that can be read by the computer system. The processor of the computer system consists of one or more electronic circuits including semiconductor integrated circuits (ICs) or large-scale integrated circuits (LSIs). The integrated circuits such as ICs and LSIs referred to here are named differently depending on the degree of integration, and include integrated circuits called system LSIs, VLSIs (Very Large Scale Integrations), or ULSIs (Ultra Large Scale Integrations). Furthermore, FPGAs (Field-Programmable Gate Arrays) that are programmed after the manufacture of the LSI, or logic devices that allow for the reconfiguration of junction relationships or circuit compartments within the LSI, can also be used as processors. Multiple electronic circuits may be integrated onto a single chip or distributed across multiple chips. Multiple chips may be integrated onto a single device or distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller also consists of one or more electronic circuits, including semiconductor integrated circuits or large-scale integrated circuits.

[0143] Furthermore, it is not essential that the multiple functions of the determination device 1 be integrated into a single housing. For example, the components of the determination device 1 may be distributed across multiple housings.

[0144] Conversely, multiple functions of the determination device 1 may be integrated into a single housing. Furthermore, at least some of the functions of the determination device 1, for example, some of the functions of the determination system 10, may be implemented by the cloud (cloud computing) or the like.

[0145] In the above-described embodiment, the display unit 74 also serves as the notification unit 75, but the display unit 74 does not necessarily have to serve as the notification unit 75. The notification unit 75 may notify the above-mentioned determination result information by outputting the determination result information, including the determination result of the determination unit 12, as sound or light, based on the control of the notification control unit 13. In other words, the means by which the notification unit 75 notifies the determination result information are not limited.

[0146] In the above-described embodiment, the determination unit 12 determines the suitability of the first table data and the second table data to the control mode based on the presence or absence of the first table data and the second table data, and whether or not the first table data and the second table data are identical. However, the determination unit 12 may also determine the suitability of the first table data and the second table data to the control mode based on the timestamp of the creation date and time in each of the first table data and the second table data. For example, the determination unit 12 may determine the suitability of the first table data and the second table data to the control mode based on whether or not the timestamp of the creation date and time is after a predetermined date and time.

[0147] Furthermore, the determination unit 12 may determine the suitability of the first table data and the second table data to the control mode based on the firmware update information (i.e., the firmware version) of the first amplifier B1 (processing unit P1) and the second amplifier B2 (processing unit P2) at the time each of the first table data and the second table data was created. For example, the determination unit 12 may determine the suitability of the first table data and the second table data to the control mode based on whether or not the firmware version is a preset version or later.

[0148] (2) Embodiment 2 Hereinafter, the notification method according to Embodiment 2 will be described with reference to Figure 8. Figure 8 is a sequence diagram of the notification method according to Embodiment 2. Components similar to those in Embodiment 1 described above are denoted by the same reference numerals and their description is omitted.

[0149] The notification method of Embodiment 2, as shown in Figure 8, includes a switching step S1, a data reading step S2, a simulation display step S5, a switching recommendation step S6, a correction recommendation step S7, and a reception step S8. In other words, the notification method of Embodiment 2 does not perform the determination step S3 and the result notification step S4 that are performed in the notification method of Embodiment 1.

[0150] In the simulation display step S5, the simulation unit 14 displays the simulation results of the first movable part Y11 of the first spindle Y1 and the second movable part Y21 of the second spindle Y2, which are controlled according to the control mode switched in the switching step S1, on the display unit 74. More specifically, in the simulation display step S5, the simulation unit 14 displays the simulation results on the display unit 74 of how much the first movable part Y11 of the first spindle Y1 is driven, based on the control value of the first drive system A11 which has been corrected and determined (calculated) by the processing unit P1 of the first amplifier B1 using the first table data, according to the control mode switched in the switching step S1. Similarly, in the simulation display step S5, the simulation unit 14 displays on the display unit 74 the results of a simulation showing how much the second movable part Y21 of the second spindle Y2 is driven, based on the control value of the second drive system A12 that has been corrected (calculated) by the processing unit P2 of the second amplifier B2 using the second table data, according to the control mode switched in the switching step S1.

[0151] In the simulation display step S5 of Embodiment 2, the simulation unit 14 further displays the simulation results of the first movable part Y11 of the first spindle Y1 and the second movable part Y21 of the second spindle Y2, which are controlled according to the control mode before switching in the switching step S1, on the display unit 74. More specifically, in the simulation display step S5, the simulation unit 14 displays on the display unit 74 the simulation results of how much the first movable part Y11 of the first spindle Y1 is driven, based on the control value of the first drive system A11 which has been corrected and determined (calculated) by the processing unit P1 of the first amplifier B1 using the first table data, according to the control mode before switching in the switching step S1. Similarly, in the simulation display step S5, the simulation unit 14 displays on the display unit 74 the result of a simulation showing how much the second movable part Y21 of the second spindle Y2 is driven, based on the control value of the second drive system A12 that has been corrected (calculated) by the processing unit P2 of the second amplifier B2 using the second table data, according to the control mode before switching in the switching step S1.

[0152] Based on the above, the notification method of Embodiment 2 does not notify the determination result of determining the suitability of at least one of the first table data and the second table data for the control mode, but instead displays the simulation results of the first movable part Y11 of the first spindle Y1 and the second movable part Y21 of the second spindle Y2, which are controlled according to the switched control mode, on the display unit 74. As a result, the notification method of Embodiment 2 has the advantage of prompting a switch to an appropriate combination of table data (first table data and second table data), similar to the notification method of Embodiment 1, and making it easier to correct the positions of the first movable part Y11 of the first spindle Y1 and the second movable part Y21 of the second spindle Y2 as intended.

[0153] (Summary) The notification method of the first embodiment is a notification method used in a synchronous drive system (2) comprising a first main spindle (Y1) having a first motor (M1) and a second main spindle (Y2) having a second motor (M2), which are connected parallel to each other via a sub-spindle (X1), and a control device (C1) that controls the first motor (M1) and the second motor (M2) respectively so that the first movable part (Y11) of the first main spindle (Y1) and the second movable part (Y21) of the second main spindle (Y2) move in the axial direction (D1) according to the control mode. The control mode is selected from a plurality of candidate modes. Multiple candidate modes include an independent control mode in which table correction is performed, which involves correcting the position of the first movable part (Y11) based on first table data corresponding to the first spindle (Y1), and correcting the position of the second movable part (Y21) based on second table data corresponding to the second spindle (Y2), thereby independently controlling the first motor (M1) and the second motor (M2). The notification method of the first embodiment includes a determination step (S3) and a result notification step (S4). In the determination step (S3), if the independent control mode is selected as the control mode, the suitability of at least one of the first table data and the second table data for the independent control mode is determined. In the result notification step (S4), determination result information (Im1) including the determination result in the determination step (S3) is notified.

[0154] This embodiment has the advantage of prompting a switch to an appropriate combination of table data, making it easier to correct the positions of the first movable part (Y11) of the first spindle (Y1) and the second movable part (Y21) of the second spindle (Y2) as intended.

[0155] In the notification method of the second embodiment, the plurality of candidate modes further include a combined mode that controls the first motor (M1) and the second motor (M2) respectively by performing both table correction and torsion correction, which corrects the difference between the position of the first movable part (Y11) and the position of the second movable part (Y21) based on at least one of the first table data and the second table data. In the determination step (S3), if the combined mode is selected as the control mode, the suitability of at least one of the first table data and the second table data for the combined mode is determined.

[0156] This embodiment has the advantage of encouraging switching to an appropriate combination of table data and making it easier to correct the positions of the first movable part (Y11) of the first spindle (Y1) and the second movable part (Y21) of the second spindle (Y2) as intended when controlling in combined mode.

[0157] In the third embodiment of the notification method, in the determination step (S3), suitability is determined depending on whether an independent control mode or a combined mode is selected as the control mode.

[0158] This embodiment has the advantage of encouraging switching to an appropriate combination of table data, and making it easier to correct the positions of the first movable part (Y11) of the first spindle (Y1) and the second movable part (Y21) of the second spindle (Y2) as intended when controlling in independent control mode or combined control mode.

[0159] The fourth aspect of the notification method further includes a switching recommendation step (S6) in the second or third aspect. In the switching recommendation step (S6), if the independent control mode is selected as the control mode, and the determination step (S3) determines that at least one of the first table data and the second table data is not suitable for the independent control mode, it is recommended to switch the control mode to the combined mode.

[0160] This embodiment has the advantage of encouraging a switch from independent control mode to combined control mode, making it easier to correct the positions of the first movable part (Y11) of the first spindle (Y1) and the second movable part (Y21) of the second spindle (Y2) more as intended.

[0161] The fifth aspect of the notification method further includes a modification recommendation step (S7) in any one of the second to fourth aspects. In the modification recommendation step (S7), if the combined mode is selected as the control mode and the determination step (S3) determines that at least one of the first table data and the second table data is not suitable for the combined mode, it is recommended that at least one of the first table data and the second table data be modified to data suitable for the combined mode.

[0162] This embodiment has the advantage of encouraging switching to an appropriate combination of table data and making it easier to correct the position of the first movable part of the first spindle (Y1) and the second movable part (Y21) of the second spindle (Y2) when controlled in combined mode.

[0163] In the sixth embodiment of the notification method, in any one of the second to fifth embodiments, if the determination step (S3) determines that at least one of the first table data and the second table data is not suitable for the combined mode, the determination result information (Im1) notified in the result notification step (S4) includes at least one of table data information (Im11), notification information (Im12), and combination information. The table data information (Im11) indicates at least one of the presence or absence of the first table data and the second table data, and whether or not the first table data and the second table data are identical. The notification information (Im12) is linked to the determination result. The combination information indicates a combination of the first table data and the second table data that is suitable for the combined mode.

[0164] This embodiment has the advantage of more strongly encouraging switching to the appropriate combination of tabular data.

[0165] In the seventh embodiment of the notification method, in any one of the first to sixth embodiments, the determination step (S3) determines suitability based on the presence or absence of at least the first table data and the second table data.

[0166] This embodiment has the advantage that the suitability of at least one of the first table data and the second table data for the control mode can be easily determined.

[0167] In the notification method of the eighth aspect, in the seventh aspect, the determination step (S3) determines suitability based on the presence or absence of first table data and second table data, and whether or not the first table data and second table data are identical.

[0168] This embodiment has the advantage that the suitability of at least one of the first table data and the second table data to the control mode can be accurately determined.

[0169] The notification method of the ninth aspect further includes a modification recommendation step (S7) in any one of the first to eighth aspects. In the modification recommendation step (S7), if the determination step (S3) determines that at least one of the first table data and the second table data is not suitable for the control mode, it is recommended that at least one of the first table data and the second table data be modified to data suitable for the control mode.

[0170] This embodiment has the advantage of encouraging switching to the appropriate combination of table data, making it easier to correct the positions of the first movable part (Y11) of the first spindle (Y1) and the second movable part (Y21) of the second spindle (Y2) more as intended.

[0171] The notification method of the tenth embodiment further includes, in any one of the first to ninth embodiments, a reception step (S8) and a switching step (S1). In the reception step (S8), a switching instruction to switch the control mode is received at a timing after the result notification step (S4) has been performed, or while the result notification step (S4) is being performed. In the switching step (S1), the control mode is switched if a switching instruction is received in the reception step (S8).

[0172] This configuration has the advantage of making it easier to switch to control mode.

[0173] In the notification method of the eleventh embodiment, in any one of the first to tenth embodiments, if the determination step (S3) determines that at least one of the first table data and the second table data is not suitable for the independent control mode, the determination result information (Im1) notified in the result notification step (S4) includes at least one of table data information (Im11), notification information (Im12), and combination information. The table data information (Im11) indicates at least one of the presence or absence of the first table data and the second table data, and whether or not the first table data and the second table data are identical. The notification information (Im12) is linked to the determination result. The combination information indicates a combination of the first table data and the second table data that is suitable for the independent control mode.

[0174] This embodiment has the advantage of more strongly encouraging switching to the appropriate combination of tabular data.

[0175] The notification method of the twelfth aspect is a notification method used in a synchronous drive system (2) comprising a first spindle (Y1) having a first motor (M1) and a second spindle (Y2) having a second motor (M2), which are connected parallel to each other via a sub-spindle (X1), and a control device (C1) that controls the first motor (M1) and the second motor (M2) respectively so that the first movable part (Y11) of the first spindle (Y1) and the second movable part (Y21) of the second spindle (Y2) move in the axial direction (D1) according to the control mode. The notification method of the twelfth aspect includes a simulation display step (S5). In the simulation display step (S5), when the control mode is switched, the simulation results of the first movable part (Y11) and the second movable part (Y21) controlled according to the switched control mode are displayed.

[0176] This embodiment has the advantage of prompting a switch to an appropriate combination of table data, making it easier to correct the positions of the first movable part (Y11) of the first spindle (Y1) and the second movable part (Y21) of the second spindle (Y2) as intended.

[0177] In the notification method of the 13th embodiment, in the simulation display step (S5), when the control mode is switched, the simulation results of the first movable part (Y11) and the second movable part (Y21) controlled according to the control mode before the switch are further displayed.

[0178] This embodiment has the advantage of more strongly encouraging switching to the appropriate combination of table data, and making it easier to correct the positions of the first movable part (Y11) of the first spindle (Y1) and the second movable part (Y21) of the second spindle (Y2) as intended.

[0179] The determination device (1) of the 14th embodiment is a determination device used in a synchronous drive system (2) comprising: a first spindle (Y1) having a first motor (M1) and a second spindle (Y2) having a second motor (M2), which are connected parallel to each other via a sub-spindle (X1); and a control device (C1) that controls the first motor (M1) and the second motor (M2) respectively so that the first movable part (Y11) of the first spindle (Y1) and the second movable part (Y21) of the second spindle (Y2) move in the axial direction (D1) according to the control mode. The control mode is selected from a plurality of candidate modes. Multiple candidate modes include an independent control mode in which a table correction is performed, which involves correcting the position of the first movable part (Y11) based on first table data corresponding to the first spindle (Y1) and correcting the position of the second movable part (Y21) based on second table data corresponding to the second spindle (Y2), and the first motor (M1) and the second motor (M2) are controlled independently. The determination device (1) of the 14th embodiment includes a determination unit (12). When the independent control mode is selected as the control mode, the determination unit (12) determines the suitability of at least one of the first table data and the second table data for the control mode.

[0180] This embodiment has the advantage of prompting a switch to an appropriate combination of table data, making it easier to correct the positions of the first movable part (Y11) of the first spindle (Y1) and the second movable part (Y21) of the second spindle (Y2) as intended.

[0181] The determination system (10) of the 15th embodiment comprises a first spindle (Y1) and a second spindle (Y2), a control device (C1), and a communication terminal (7). The first spindle (Y1) and the second spindle (Y2) are connected parallel to each other via a sub-spindle (X1). The first spindle (Y1) has a first motor (M1). The second spindle (Y2) has a second motor (M2). The control device (C1) controls the first motor (M1) and the second motor (M2) respectively so that the first movable part (Y11) of the first spindle (Y1) and the second movable part (Y21) of the second spindle (Y2) move in the axial direction (D1) according to the control mode. The communication terminal (7) is connected to the control device (C1) in a communicative manner. The control mode is selected from a plurality of candidate modes. Multiple candidate modes include an independent control mode in which a table correction is performed, which involves correcting the position of the first movable part (Y11) based on first table data corresponding to the first spindle (Y1), and correcting the position of the second movable part (Y21) based on second table data corresponding to the second spindle (Y2), thereby independently controlling the first motor (M1) and the second motor (M2). The communication terminal (7) has a determination unit (12). When the independent control mode is selected as the control mode, the determination unit (12) determines the suitability of at least one of the first table data and the second table data for the control mode.

[0182] This embodiment has the advantage of prompting a switch to an appropriate combination of table data, making it easier to correct the positions of the first movable part (Y11) of the first spindle (Y1) and the second movable part (Y21) of the second spindle (Y2) as intended.

[0183] The sixteenth aspect of the program is a program that causes a computer system to execute one of the notification methods of the first to twelfth aspects.

[0184] This embodiment has the advantage of prompting a switch to an appropriate combination of table data, making it easier to correct the positions of the first movable part (Y11) of the first spindle (Y1) and the second movable part (Y21) of the second spindle (Y2) as intended.

[0185] The notification method, determination system, determination device, and program of this disclosure have the advantage of prompting a switch to the appropriate combination of table data and facilitating the correction of the positions of the first movable part of the first spindle and the second movable part of the second spindle as intended. Thus, the notification method, determination system, determination device, and program of this disclosure are industrially useful.

[0186] 10 Judgment System 1 Judgment Device 2 Synchronous Drive System 7 Communication Terminal 12 Judgment Unit C1 Control Device D1 Axial Direction Im1 Judgment Result Information Im11 Table Data Information Im12 Notification Information M1 First Motor M2 Second Motor S1 Switching Step S3 Judgment Step S4 Result Notification Step S5 Simulation Display Step S6 Switching Recommendation Step S7 Correction Recommendation Step S8 Reception Step X1 Sub-axis Y1 First Main Spindle Y2 Second Main Spindle Y11 First Movable Part Y21 Second Movable Part

Claims

1. A notification method for use in a synchronous drive system comprising: a first spindle having a first motor and a second spindle having a second motor, connected parallel to each other via a sub-shaft; and a control device that controls the first motor and the second motor, respectively, so that a first movable part of the first spindle and a second movable part of the second spindle move in the axial direction according to a control mode, wherein the control mode is selected from a plurality of candidate modes, and the plurality of candidate modes include an independent control mode that independently controls the first motor and the second motor by performing table correction, which includes correcting the position of the first movable part based on first table data corresponding to the first spindle and correcting the position of the second movable part based on second table data corresponding to the second spindle, respectively; and when the independent control mode is selected as the control mode, a determination step of determining the suitability of at least one of the first table data and the second table data for the independent control mode; and a result notification step of notifying determination result information including the determination result in the determination step.

2. The notification method according to claim 1, wherein the plurality of candidate modes further include a combined mode that controls the first motor and the second motor, respectively, by performing both the table correction and torsional correction, which corrects the difference between the position of the first movable part and the position of the second movable part based on at least one of the first table data and the second table data, and in the determination step, if the combined mode is selected as the control mode, the suitability of at least one of the first table data and the second table data to the combined mode is determined.

3. The notification method according to claim 2, wherein in the determination step, the suitability is determined according to whether the independent control mode or the combined mode is selected as the control mode.

4. The notification method according to claim 2, further comprising a switching recommendation step in which, if the independent control mode is selected as the control mode, and the determination step determines that at least one of the first table data and the second table data is not suitable for the independent control mode, the notification method further includes a switching recommendation step in which the control mode is recommended to be switched to the combined mode.

5. The notification method according to claim 2, further comprising a modification recommendation step, which recommends modifying at least one of the first table data and the second table data to data that conforms to the combined mode, if the combined mode is selected as the control mode and the determination step determines that at least one of the first table data and the second table data does not conform to the combined mode.

6. The notification method according to claim 2, wherein the determination step determines that at least one of the first table data and the second table data is not suitable for the combined mode, and the determination result information notified in the result notification step includes at least one of: table data information indicating whether the first table data and the second table data exist or not, and whether the first table data and the second table data are the same; notification information associated with the determination result; and combination information indicating a combination of the first table data and the second table data that is suitable for the combined mode.

7. The notification method according to claim 1, wherein the determination step determines the suitability based on the presence or absence of at least the first table data and the second table data.

8. The notification method according to claim 7, wherein the determination step determines the suitability based on whether the first table data and the second table data exist, and whether the first table data and the second table data are identical.

9. The notification method according to claim 1, further comprising a correction recommendation step of recommending that, if the determination step determines that at least one of the first table data and the second table data is not suitable for the control mode, the first table data and the second table data be corrected to data suitable for the control mode.

10. The notification method according to claim 1, further comprising: a reception step for receiving a switching instruction to switch the control mode at a timing after the result notification step has been performed, or while the result notification step is being performed; and a switching step for switching the control mode when the switching instruction has been received in the reception step.

11. The notification method according to claim 1, wherein the determination step determines that at least one of the first table data and the second table data is not suitable for the independent control mode, and the determination result information notified in the result notification step includes at least one of: table data information indicating whether the first table data and the second table data exist or not, and whether the first table data and the second table data are the same; notification information associated with the determination result; and combination information indicating a combination of the first table data and the second table data that is suitable for the independent control mode.

12. A notification method used in a synchronous drive system comprising a first spindle having a first motor and a second spindle having a second motor, connected parallel to each other via a sub-shaft, and a control device that controls the first motor and the second motor, respectively, so that the first movable part of the first spindle and the second movable part of the second spindle move in the axial direction according to a control mode, the notification method including a simulation display step that displays the simulation results of the first movable part and the second movable part controlled according to the control mode after the switch when the control mode is switched.

13. The notification method according to claim 12, wherein, in the simulation display step, when the control mode is switched, the results of the simulation of the first movable part and the second movable part controlled according to the control mode before the switch are further displayed.

14. A determination device used in a synchronous drive system comprising: a first spindle having a first motor and a second spindle having a second motor, connected parallel to each other via a sub-shaft; and a control device that controls the first motor and the second motor, respectively, so that the first movable part of the first spindle and the second movable part of the second spindle move in the axial direction according to a control mode, wherein the control mode is selected from a plurality of candidate modes, and the plurality of candidate modes include an independent control mode that independently controls the first motor and the second motor by performing table correction, which involves correcting the position of the first movable part based on first table data corresponding to the first spindle and correcting the position of the second movable part based on second table data corresponding to the second spindle, respectively, and when the independent control mode is selected as the control mode, the determination device comprises a determination unit that determines the suitability of at least one of the first table data and the second table data to the control mode.

15. A determination system comprising: a first spindle having a first motor and a second spindle having a second motor, connected parallel to each other via a sub-shaft; a control device that controls the first motor and the second motor, respectively, so that a first movable part of the first spindle and a second movable part of the second spindle move in the axial direction according to a control mode; and a communication terminal that is communicably connected to the control device, wherein the control mode is selected from a plurality of candidate modes, the plurality of candidate modes include an independent control mode that controls the first motor and the second motor independently by performing table correction, which involves correcting the position of the first movable part based on first table data corresponding to the first spindle and correcting the second movable part based on second table data corresponding to the second spindle, and the communication terminal has a determination unit that determines the suitability of at least one of the first table data and the second table data to the control mode when the independent control mode is selected as the control mode.

16. A program for causing a computer system to perform the notification method described in any one of claims 1 to 12.

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