JP6859965B2 - Setting support device and setting support program - Google Patents

Description

The present invention relates to a setting support device and a setting support program for supporting the setting of a position command filter in a servo driver.

In order to facilitate various settings for the position command filter of the servo driver, a program (see, for example, Patent Document 1) capable of performing various settings for the position command filter in one window has been developed.

Japanese Unexamined Patent Publication No. 2012-150758

According to the above technique, various settings for the position command filter can be made relatively easily. However, in the above technique, the user cannot grasp the disadvantages such as the delay of the position command caused by the change of the filter setting. Therefore, when the above technique is used, the delay time of the position command may become too long and the filter setting may have to be redone.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a setting support device and a setting support program that can set a position command filter in consideration of disadvantages.

In order to achieve the above object, the setting support device according to one aspect of the present invention (hereinafter, also referred to as the first setting support device) is a position command filter in the servo driver including the first filter having the first parameter. A setting support device that supports setting, and is a measuring means for measuring the response characteristics of a servo system including the servo driver, a servo motor controlled by the servo driver, and a driven body driven by the servo motor. Based on the response characteristics of the servo system measured by the measuring means and the information indicating the operating state of the first filter at the time of measuring the response characteristics, the servo in a plurality of situations where the value of the first parameter is different. The response characteristics of the system are simulated, and based on the simulated results of the response characteristics of the servo system in each situation, the first index value, which is an index value of the overshoot amount in each situation, and the time of the position command by the position command filter. Based on the specific means for specifying the second index value, which is the index value of the delay amount, and the first index value and the second index value in each situation specified by the specific means, the second index value is displayed on the screen of the display. It is a graph which shows the relationship between 1 index value and the 2nd index value, and displays the graph which made the 1st index value and the 2nd index value one of the vertical axis and the horizontal axis, respectively. The display control means is provided, and the setting means for setting the value of the first parameter corresponding to the point designated by the user on the graph to the first parameter of the first filter is provided.

That is, the first setting support device gives the user a relationship between the first index value (index value of the overshoot amount) and the second index value (index value of the time delay amount of the position command by the position command filter). It has a configuration in which the graph to be shown is presented and the user is allowed to specify a value to be set in the first parameter of the first filter in the position command filter. Therefore, if this first setting support device is used, the user can set the position command filter in consideration of the demerits.

Further, the setting support device according to another aspect of the present invention (hereinafter, also referred to as a second setting support device) is in a servo driver including a first filter having a first parameter and a second filter having a second parameter. It is a setting support device that supports the setting of the position command filter, and measures the response characteristics of the servo system including the servo driver, the servo motor controlled by the servo driver, and the driven body driven by the servo motor. Based on the measuring means to be measured, the response characteristic of the servo system measured by the measuring means, and the information indicating the operating state of the first filter at the time of measuring the response characteristic, the value of the first parameter and the first parameter. The response characteristics of the servo system in multiple situations where the combination of the values of the two parameters are different from each other are simulated, and based on the simulation result of the response characteristics of the servo system in each situation, the index value of the overshoot amount in each situation is used. A specific means for specifying a first index value and a second index value which is an index value of a time delay amount of a position command by the position command filter, and the first index value and the said in each situation specified by the specific means. Based on the second index value, the first image information showing the relationship between the combination of the value of the first parameter and the value of the second parameter and the first index value on the screen of the display, and the first index value. A display control means for displaying second image information indicating the relationship between the value of the parameter, the value of the second parameter, and the second index value is provided.

That is, the second setting support device provides the user with first image information indicating the relationship between the combination of the value of the first parameter and the value of the second parameter and the first index value, and the first parameter. It is possible to present the second image information showing the relationship between the value of and the value of the second parameter and the second index value. Therefore, if this second setting support device is used, the user can set two filters in the position command filter in consideration of disadvantages. It should be noted that the actual setting to the position command filter may be performed by using another device. However, the third and fourth image information is displayed on the screen of the display on the second setting support device so that the position command filter can be set only by operating the second setting support device. In the state, the user is made to specify the first set value and the second set value, and the designated first set value and the second set value are set to the first parameter and the first parameter of the first filter, respectively. A second setting means for setting the second parameter of the two filters may be added.

The display control means of the second setting support device states, "As the first image information, the value of the first parameter and the value of the second parameter are set to one or the other of the vertical axis and the horizontal axis, respectively. A first contour diagram representing the first index value in color or brightness is displayed, and as the second image information, the value of the first parameter and the value of the second parameter are shown in the vertical axis and the horizontal axis, respectively. On the other hand, on the other hand, it may be a means for displaying a second contour diagram in which the second index value is represented by color or brightness.

When the above means is adopted as the display control means, the setting means is "a value of the first parameter corresponding to a position on the first contour diagram or the second contour diagram specified by the user, the value of the second parameter, the second parameter. The value may be treated as the first set value and the second set value, respectively. ”

The specific means of the second setting support device is "Furthermore, the first index value and the second index value in one or more situations in which the first filter is invalid, and the second filter is invalidated. It may be a means for "identifying the first index value and the second index value in one or more situations".

Further, the second setting support device is provided with the response characteristics of the servo system measured by the measuring means when the state of the driven body is in the first state, and the response characteristics of the first filter at the time of measuring the response characteristics. Based on the information indicating the operating state, the first index value and the second index value in each of the plurality of situations specified by the specific means, and the state of the driven body are the first state. Is specified by the specific means based on the response characteristic of the servo system measured by the measuring means when it is in a different second state and the information indicating the operating state of the first filter at the time of measuring the response characteristic. Based on the first index value and the second index value in each of the plurality of situations, the worst value of the first index value and the worst value of the second index value in each situation are specified. On the screen of the display, the third image information showing the relationship between the combination of the value of the first parameter and the value of the second parameter and the worst value of the first index value, and the value of the first parameter A second display control means for displaying the fourth image information indicating the relationship between the combination of the values of the second parameter and the worst value of the second index value may be added. When the second display control means is added to the second setting support device, the value of the first parameter is further displayed to the user in a state where the third and fourth image information is displayed on the screen of the display. , The value of the second parameter is specified, and the specified value of the first parameter and the value of the second parameter are set to the first parameter of the first filter and the second of the second filter, respectively. A second setting means for setting the parameter may be added.

The first filter and the second filter in the position command filter may be a low-pass filter and a vibration damping filter, respectively, and both the first filter and the second filter may be vibration damping filters. The vibration damping filter is a filter (notch filter or the like) that suppresses load fluctuation by shaping the command value and removing a specific frequency.

In order to measure the response characteristics of the servo system, the measuring means of the first and second setting support devices responds to the position command in the position, speed and acceleration of the motor and the position, speed and acceleration of the driven body. Any of them may be measured. Further, the gain adjusting means for adjusting the gain of the servo driver may be added to the first and second setting support devices.

The setting support program according to one aspect of the present invention is a setting support program that supports the setting of the position command filter in the servo driver including the first filter having the first parameter, and is applied to the computer connected to the servo driver. A measurement step for measuring the response characteristics of the servo system including the servo driver, the servo motor controlled by the servo driver, and the driven body driven by the servo motor, and the servo system measured by the measurement step. Based on the response characteristics of the above and the information indicating the operating state of the first filter at the time of measuring the response characteristics, the response characteristics of the servo system in a plurality of situations in which the values of the first parameters are different are simulated, and each of them is simulated. Based on the simulation result of the response characteristics of the servo system in each situation, the first index value which is an index value of the overshoot amount in each situation and the second index value which is the index value of the time delay amount of the position command by the position command filter. Based on the specific step for specifying the value and the first index value and the second index value in each situation specified by the specific step, the first index value and the second index value are displayed on the screen of the display. A display control step for displaying a graph in which the first index value and the second index value are one of the vertical axis and the other, respectively, and the graph on the graph. The setting step of setting the value of the first parameter corresponding to the point specified by the user to the first parameter of the first filter is executed.

Further, the setting support program according to one aspect of the present invention is a setting support program that supports the setting of the position command filter in the servo driver, including the first filter having the first parameter and the second filter having the second parameter. A measurement step of measuring the response characteristics of a servo system including the servo driver, a servo motor controlled by the servo driver, and a driven body driven by the servo motor in a computer connected to the servo driver. Based on the response characteristics of the servo system measured in the measurement step and the information indicating the operating state of the first filter at the time of measuring the response characteristics, the value of the first parameter and the second parameter The first is an index value of the overshoot amount in each situation based on the simulation result of the response characteristic of the servo system in each situation by simulating the response characteristic of the servo system in a plurality of situations where the combination of values is different from each other. A specific step for specifying the index value and the second index value which is the index value of the time delay amount of the position command by the position command filter, and the first index value and the second index in each situation specified by the specific step. Based on the values, the first image information showing the relationship between the combination of the value of the first parameter and the value of the second parameter and the first index value on the screen of the display, and the value of the first parameter. And a display control step for displaying the second image information indicating the relationship between the combination of the values of the second parameter and the second index value.

Therefore, if the setting support program from each viewpoint of the present invention is executed by the computer connected to the servo driver, the user can set the position command filter in consideration of the demerits.

According to the present invention, it is possible to provide a setting support device and a setting support program in which a user can set a position command filter in consideration of disadvantages.

It is explanatory drawing of the use form of the setting support device which concerns on one Embodiment of this invention, and the configuration of the servo driver connected to the setting support device which concerns on embodiment. It is a functional block diagram concerning the motor control function of the control part of a servo driver. It is explanatory drawing of the structure of the position command filter provided in the control part of a servo driver. It is explanatory drawing of the hardware configuration of the setting support apparatus which concerns on embodiment. It is a flow chart of the setting support process which can be executed by the CPU of the setting support device which concerns on embodiment. It is a flow chart of the 1st setting process which may be executed in step S105 of a setting support process. It is explanatory drawing of the overshoot amount. It is explanatory drawing of the overshoot amount. It is explanatory drawing of the graph displayed at the time of the 1st setting processing. It is a flow chart of the 2nd setting process which may be executed in step S105 of the setting support process. It is explanatory drawing of the DT contour diagram and the OS contour diagram displayed at the time of the 2nd setting process. It is explanatory drawing of the graph displayed at the time of the 2nd setting process. It is explanatory drawing of the graph displayed at the time of the 2nd setting process. It is a flow chart of the 3rd setting process which may be executed in step S105 of a setting support process. It is explanatory drawing of the graph displayed at the time of the 3rd setting process. It is explanatory drawing of the DTW contour diagram and the OSW contour diagram displayed at the time of the 3rd setting process. It is explanatory drawing of the information which can be used to obtain the response characteristic.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 shows a usage mode of the setting support device 10 according to the embodiment of the present invention.
The setting support device 10 according to the present embodiment is a device used by being connected to the servo driver 20.

Before explaining the details of the setting support device 10, the configuration and function of the servo driver 20 will be described. As shown in FIG. 1, the servo driver 20 to which the setting support device 10 is connected includes a non-volatile memory 21, a motor drive circuit 22, and a control unit 23.

The motor drive circuit 22 is a circuit that supplies a drive current to the motor 41 under the control of the control unit 23. The control unit 23 is a unit composed of a processor (microcontroller, CPU, etc.) and peripheral elements thereof. The main process executed by the control unit 23 is a motor control process for controlling the motor 41 (motor drive circuit 22) according to a position command input from an external device such as a PLC. However, the control unit 23 is configured (programming) so that other processes can also be executed. The non-volatile memory 21 is a non-volatile memory such as EEPROM (Electrically Erasable and Programmable Read Only Memory) in which data can be rewritten.
The non-volatile memory 21 stores various parameters used by the control unit 23 during the motor control process.

Hereinafter, the control unit 23 of the servo driver 20 and the non-volatile memory 21 will be described in more detail.
FIG. 2 shows a functional block diagram relating to the motor control processing function of the control unit 23. As shown, the control unit 23 is configured (programmed) to function as a unit including a position command filter 31, a position controller 33, a speed controller 35, a current controller 36, and a speed detector 37. ing.

The position command filter 31 is a digital filter for filtering position commands. As shown in FIG. 3, the position command filter 31 has a low-pass filter 31a, a vibration damping filter 31b, and a vibration damping filter 31c connected in series. The vibration damping filter 31b is a filter (for example, a notch filter) that suppresses load fluctuation by shaping a command value and removing a specific frequency.

The position controller 33 (FIG. 2) has a speed according to a deviation between the position command filtered by the position command filter 31 and the position of the motor 41 (the position of the rotation axis of the motor 41) detected by the encoder 43. A unit (functional block) that generates commands. The speed detector 37 is a unit that detects the speed of the motor 41 by differentiating the position of the motor 41 detected by the encoder 43. The speed controller 35 is a unit that generates a current command according to the deviation between the speed command generated by the position controller 33 and the speed detected by the speed detector 37. The current controller 36 is a unit that generates a control signal (in this embodiment, a PWM signal) for supplying the current according to the current command from the speed controller 35 to the motor 41 and supplies the current to the motor drive circuit 22. is there.

The non-volatile memory 21 stores the set values of the parameters (center frequency, cutoff frequency, etc.) of each filter and whether or not each filter is used (whether each filter is enabled or disabled). There is. The non-volatile memory 21 also stores parameters (position proportional gain, speed proportional gain, etc.) related to the position controller 33 and the speed controller 35, and the control unit 23 serves as the position command filter 31, the position controller 33, and the like. The content of the processing to be actually performed is determined based on the information stored in the non-volatile memory 21.

Further, the control unit 23 has a function of performing motor control processing while returning the position detected by the encoder 43 to the external device which is the supply source of the position command, and the units (filters 31a to 31c, position control) requested by the external device. A function to return the information on the non-volatile memory 21 about the device 33, etc.) to the external device, a function to rewrite the information on the non-volatile memory 21 about the unit specified by the external device to the information specified by the external device, etc. Also has.

Hereinafter, the configuration and functions of the setting support device 10 will be described.
FIG. 4 shows the configuration of the setting support device 10 according to the present embodiment.

As shown in the figure, the setting support device 10 is a setting support program from the CD-ROM 18 to a computer including a communication interface (communication I / F) for communicating with the CPU 11, HDD 12, and servo driver 20. It is a device in which 15 is installed.

The setting support program 15 is a program developed to facilitate the parameter setting work for each filter 31x (x = a to c) in the position command filter 31.

FIG. 5 shows a flow chart of the setting support process executed by the CPU 11 according to the setting support program 15.

As shown in the figure, the CPU 11 that has started the operation according to the setting support program 15 first acquires the current settings of each filter 31x (x = a to c) in the position command filter 31, and filters state information. Is stored in the RAM (step S101).

Next, the CPU 11 performs a process (step S102) of displaying the menu screen on the display. The menu screen displayed in the process of this step is basically a screen for allowing the user to select which of the first to third setting processes and the gain adjustment process is to be executed. However, although the details will be described later, the first setting process is a process in which it is necessary to specify one filter 31x (x = a to c) in the position command filter 31 as a processing target filter. The second and third setting processes are processes in which it is necessary to specify two filters 31x in the position command filter 31 as processing target filters. Further, the first to third designation processes are also processes that can specify whether or not to perform simulation even when the position command filter is invalid. Therefore, items for setting such information are also provided on the menu screen.

The CPU 11 that has completed the process of step S101 waits for the execution instruction of any setting process or the end instruction of the setting support process (process of FIG. 5) to be input by the operation of the input device (keyboard, mouse, etc.). (Step S103).

When an execution instruction for any of the first to third setting processes and the gain adjustment process is input (step S104; execution instruction), the CPU 11 executes the process instructed to execute (step S105). .. After that, the CPU 11 returns to step S102 to display the menu screen on the display again. Then, when the end instruction of the setting support process is input (step S105; end), the CPU 11 ends the setting support process.

Hereinafter, the first to third setting processes executed in step S105 will be described. The gain adjustment process executed in step S105 has the same contents as the existing gain adjustment process. Therefore, the detailed description of the gain adjustment process will be omitted.

<< First setting process >>
FIG. 6 shows a flow chart of the first setting process.

As shown in the figure, the CPU 11 that has started the first setting process first responds to each position command while supplying the servo driver 20 with a position command that changes with time in a predetermined pattern.
By acquiring the output of the encoder 43) from the servo driver 20, the response characteristics of the servo system are measured (step S201). Here, the servo system is a system composed of a servo driver 20, a motor 41, and a machine 42 driven by the motor 41.

Next, the CPU 11 simulates the response characteristics of the servo system in a plurality of virtual situations in which the parameter values of the filters to be processed are different, based on the measured response characteristics and the filter state information (step S202). As described above, the processing target filter is one filter 31x (x = a to c) in the position command filter 31 designated by the user as the processing target before instructing the execution of the first setting process. ).

The process of step S202 is performed on the assumption that the servo driver 20 is a linear system. Specifically, when the filter state information indicates that the processing target filter is invalid, in step S202, by applying the transfer function of the processing target filter of various parameter values to the measured response characteristics. , The response characteristics of the servo system in multiple virtual situations are required. Further, when the filter state information indicates that the processing target filter is effective, in step S202, first, from the parameter value (value included in the filter state information) of the processing target filter at the time of measuring the response characteristic. , The inverse transfer function of the transfer function of the filter to be processed at the time of response characteristic measurement is obtained. Then, by applying the inverse transfer function to the measured response characteristics, the response characteristics of the servo system when the processing target filter is invalid can be obtained. Then, by applying the transfer function of the processing target filter of various parameter values to the response characteristics obtained in this way, the response characteristics of the servo system in a plurality of virtual situations can be obtained.

The CPU 11 that has completed the process of step S202 specifies the command delay time and the overshoot amount in each virtual situation from the obtained response characteristics (step S203). The amount of overshoot specified in the processing of this step is "the maximum value of the response after the position command has reached the final value-the final value of the position command" as shown in FIGS. 7A and 7B. Further, the command delay time specified in the process of step S203 is the time delay amount of the position command by the position command filter 31.

The CPU 11 that has completed the process of step S203 displays a graph showing the relationship between the specified command delay time and the overshoot amount on the screen of the display (step S204). As shown in FIG. 8, the graph displayed in the process of this step is a graph in which a pointer (white circle in FIG. 8) for designating one point is displayed. Further, when it is specified to perform the simulation even when the position command filter is invalid, the CPU 11 determines the coordinate position defined by the command delay time and the overshoot amount when the processing target filter is invalid. Display the graph with the mark.

The CPU 11 that has completed the process of step S204 waits for the user to perform the setting instruction operation or the end instruction operation (step S205). Here, the setting instruction operation is a predetermined operation including an operation of changing the pointer position on the graph to a desired position by a drag and drop operation of the mouse or the like.

When the setting instruction operation is performed by the user (step S206; setting), the CPU 11 sets the parameter value corresponding to the pointer position specified by the user in the processing target filter (step S207). More specifically, the CPU 11 rewrites the parameter value of the processing target filter on the non-volatile memory 21 with the parameter value corresponding to the pointer position by communicating with the servo driver 20 (control unit 23). .. Further, in step S207, the CPU 11 also performs a process of updating the parameter value of the processing target filter in the filter state information to the parameter value corresponding to the pointer position. Then, the CPU 11 ends this first setting process.

Further, when the end instruction operation is performed by the user (step S206; end), the CPU 11 ends the first setting process without performing the process of step S207. Then, the CPU 11 that has completed the first setting process restarts the processes after step S102 (FIG. 2).

<< Second setting process >>
FIG. 9 shows a flow chart of the second setting process.

As shown in the figure, the CPU 11 that has started this second setting process first performs the same process as the process of step S101 described above in step S201.

Next, the CPU 11 simulates the response characteristics of the servo system in a plurality of virtual situations in which the combination of the two parameter values of the two processing target filters specified by the user is different from each other based on the measured response characteristics and the filter state information. (Step S302). The process of step S302 is the same as the process of step S202 described above, except that the number of transfer functions (and inverse transfer functions) used is two.

After that, the CPU 11 specifies the command delay time and the overshoot amount in each virtual situation from each response characteristic obtained in the process of step S302 (step S303). Next, the CPU 11 displays a command delay time contour diagram (hereinafter referred to as DT contour diagram) and an overshoot amount contour diagram (hereinafter referred to as OS contour diagram) on the screen of the display (step S304).

More specifically, for example, when the processing target filters are the low-pass filter 31a and the vibration damping filter 31b or 31c, in step S304, the CPU 11 displays the DT contour diagram as shown in FIG. 10 on the screen of the display. And the OS contour diagram are displayed. That is, the CPU 11 has the LPF frequency, which is the parameter value of the low-pass filter 31a, as the horizontal axis, the vibration suppression control frequency, which is the parameter value of the vibration suppression filter 31b or 31c, as the vertical axis, and the overshoot amount is a color (brightness in FIG. 9). The OS contour diagram represented by) is displayed on the screen of the display.

Further, in step S304, the CPU 11 also performs a process of displaying a pointer (white circle in FIG. 10) at the same coordinate position in each contour diagram. When it is specified to perform the simulation even when the position command filter is invalid, the CPU 11 determines the command delay time when one of the processing target filters is invalid and when both processing target filters are invalid. The DT contour diagram also shown and the OS contour diagram showing the overshoot amount when one of the processing target filters is invalid and when both processing target filters are invalid are displayed.

The CPU 11 that has completed the process of step S304 (FIG. 9) waits for the user to perform a setting instruction operation, a display form change instruction operation, or an end instruction operation (step S305).

The setting instruction operation is a predetermined operation including an operation of changing the position of the pointer to a desired position by a drag and drop operation of the mouse or the like. When the operation of changing the position of the pointer on one contour diagram is performed, the CPU 11 also changes the position of the pointer on the other contour diagram.

When the setting instruction operation is performed by the user (step S306; setting), the CPU 11 sets the two parameter values corresponding to the position of the pointer at that time in the two processing target filters (step S310). More specifically, for example, when the processing target filters are the low-pass filter 31a and the vibration damping filter 31b (see FIG. 10), the CPU 11 communicates with the servo driver 20 (control unit 23) to X the pointer. The coordinate value rewrites the parameter value of the low-pass filter 31a on the non-volatile memory 21, and the Y coordinate value of the pointer rewrites the parameter value of the vibration damping filter 31b on the non-volatile memory 21.

In step S310, the CPU 11 also performs a process of updating the parameter value of the two processing target filters in the filter state information to the current value. Then, the CPU 11 that has completed the process of step S310 ends the second setting process.

The display form change instruction operation is an operation of designating one point on the X-axis or Y-axis of any contour diagram (see FIG. 10). Hereinafter, the parameter value of the axis on which one point is designated is referred to as a non-attention parameter, and the parameter value of the point designated by the user is referred to as a specified value.

When the display form change instruction operation is performed (step S306; display form change), the CPU 11 displays a graph showing the relationship between the command delay time and the overshoot amount when the value of the non-attention parameter is a specified value. It is displayed on the screen (step S307). That is, in the CPU 11, the processing target filters are the low-pass filter 31a and the vibration damping filter 31b (see FIG. 10), and when one point on the X-axis of any contour diagram is specified, the cutoff frequency of the low-pass filter 31a is specified. A graph showing the relationship between the command delay time and the overshoot amount when is the frequency of the specified point, for example, a graph as shown in FIG. 11A is displayed on the screen of the display. Further, when the processing target filters are the low-pass filter 31a and the vibration damping filter 31b and one point on the Y axis of any contour diagram is specified, the vibration control control frequency of the vibration damping filter 31b is specified. A graph showing the relationship between the command delay time and the overshoot amount in the case of the frequency of, for example, a graph as shown in FIG. 11B is displayed on the screen of the display.

As shown in FIGS. 11A and 11B, the pointer is also displayed on the graph displayed by the CPU 11 in step S307.

Returning to FIG. 9, the description of the second setting process will be continued.
The CPU 11 that has completed the process of step S307 waits for the user to perform a setting instruction operation or an end instruction operation including an operation of changing the pointer position on the graph to a desired position by a mouse drag and drop operation or the like (step). S308).

When the end instruction operation is performed by the user (step S309; end), the CPU 11 re-executes the processes after step S304.

On the other hand, when the setting instruction operation is performed by the user (step S309; setting), the CPU 11 sets each of the two parameter values specified by the user in the display form change instruction operation and the pointer operation in the corresponding processing target filter (step S309; setting). Step S310). The CPU 11 also performs a process of updating the filter state information (step S310). The CPU 11 that has completed the process of step S310 starts the process of step S304 and subsequent steps. Then, when the end instruction operation is performed (step S306; end) while the DT contour diagram and the OS contour diagram are being displayed, the CPU 11 ends the second setting process and performs the setting support process (FIG. 5). The processing after step S102 is started.

<< Third setting process >>
FIG. 12 shows a flow chart of the third setting process.

As shown in the figure, the CPU 11 that has started this third setting process first performs a specific process such as a command delay time in step S401. This command delay time identification process is the same process as the process of steps S301 to S303 of the second setting process (FIG. 9).

The CPU 11 that has completed the specific processing such as the command delay time displays a message on the screen of the display that the specific processing such as the command delay time is completed, and then waits for the measurement start instruction to be input (step S402). When the above message is displayed, the user of the setting support device 10 performs a work of changing the state of the machine 45 (a state related to the inertia value), and then inputs a measurement start instruction.

When the measurement start instruction is input, the CPU 11 re-performs in step S403 a specific process such as a command delay time having the same contents as the processes of steps S301 to S303 of the second setting process.

In the subsequent step S404, the CPU 11 that has completed the process of step S403 first determines the command delay time for each virtual situation from the command delay time and the overshoot amount specified by the specific process such as the two command delay times. Specify the worst value for the worst value and the amount of overshoot. Next, the CPU 11 displays a command delay time worst value contour diagram (hereinafter referred to as DTW contour diagram) and an overshoot amount worst value contour diagram (hereinafter referred to as OSW contour diagram) on the screen of the display. Here, the DTW contour diagram is a contour diagram in which the parameter value of one processing target filter is on the horizontal axis, the parameter value of the other processing target filter is on the vertical axis, and the worst value of the command delay time is represented by color. Is. The OSW contour diagram is a contour diagram in which the parameter value of one processing target filter is on the horizontal axis, the parameter value of the other processing target filter is on the vertical axis, and the worst value of the overshoot amount is represented by color. is there.

That is, under the condition that the processing target filters are the low-pass filter 31a and the vibration damping filter 31b, the result that the OS contour diagram is shown in FIG. 13A can be obtained by the specific processing such as the command delay time in step S401. , When the result that the OS contour diagram is as shown in FIG. 13 (B) is obtained by the specific processing such as the command delay time in step S403, the OSW contour diagram is as shown in FIG. 13 (C). Things are displayed. When one of the processing target filters is the low-pass filter 31a, the same command delay time is specified for each virtual situation in the command delay time and the like specifying process in step S401 and the command delay time and the like specifying process in step S403. It will be. Therefore, when one of the processing target filters is the low-pass filter 31a, in step S403, the CPU 11 displays the DT contour diagram as the DTW contour diagram without obtaining the worst value of the command delay time.

On the other hand, when the processing target filters are the vibration damping filter 31b and the vibration damping filter 31c, the CPU 11 specifies the worst value of the command delay time and the worst value of the overshoot amount for each virtual situation, and based on the specific result. For example, the OSW contour diagram and the DTW contour diagram as shown in FIG. 14 are displayed on the screen of the display.

Then, the CPU 11 that has completed the process of step S404 performs the same process as the process of steps S305 to S310 of the second setting process (FIG. 9) in steps S405 to S410, respectively, and the end instruction operation is performed. Occasionally (step S406; end), the third setting process is ended, and the processes after step S102 of the setting support process (FIG. 5) are started.

As described above, the setting support device 10 according to the present embodiment presents to the user a graph (FIG. 8) showing the relationship between the overshoot amount and the command delay time, and is a processing target in the position command filter. The first setting process for causing the user to specify the parameter value to be set in the filter can be executed. Further, the setting support device 10 provides the user with an OS contour diagram showing the relationship between the combination of the parameter values of the two processing target filters and the overshoot amount, and the relationship between the combination of the parameter values of the two processing target filters and the command delay time. By presenting the DT contour diagram (FIG. 10) shown, it is possible to execute the second setting process in which the user specifies the parameter value to be set in the two processing target filters in the position command filter. Further, the setting support device 10 presents the user with an OSW contour diagram showing the worst value of the overshoot amount and a DTW contour diagram (FIG. 14) showing the worst value of the command delay time, and two processing targets in the position command filter. It is also possible to execute the third setting process in which the user specifies the parameter value to be set in the filter. Therefore, if the setting support device 10 is used, the user can set one or two filters in the position command filter 31 in consideration of the disadvantages.

Further, the setting support device 10 is configured to be able to execute the gain adjustment process (FIG. 5; S105). Therefore, according to the setting support device 10, when vibration is generated in the gain adjustment processing or before the gain adjustment processing is performed, the position command filter 31 is adjusted to a state in which the vibration can be suppressed, and then the gain of the servo driver 20 is adjusted. It is possible to adjust / readjust.

<< Modification example >>
The setting support device 10 described above can be modified in various ways. For example, the information presented to the user by the graph / contour diagram is an index value of the overshoot amount (a value indicating the amount of overshoot amount) and an index value of the time delay amount of the position command by the position command filter (depending on the position command filter). It may be a value indicating the length of the time delay amount of the position command). Therefore, instead of the overshoot amount, the maximum value of the response to the position command input may be adopted. Further, instead of the command delay time described above, a settling time or the like may be adopted.

The setting function of the parameter value to the processing target filter may be removed from the setting support device 10 so that the setting of the parameter value to the processing target filter is performed by a device different from the setting support device 10. When removing the setting function from the setting support device 10, the first setting process (FIG. 6) is transformed into a process for displaying the parameter value of the pointer position, and the second and third setting processes are set instructed. It should be transformed into a process that does not accept.

The information acquired from the servo driver 20 by the setting support device 10 in order to obtain the response characteristics may be the speed or acceleration of the motor 41, or the position, speed or acceleration of the machine 42. Further, as shown in FIG. 15, even if the position of the motor 41 ("PosMotor") changes with respect to the position command ("PosCmd") with almost no overshoot amount, the position of the machine 42 ("PosLoad") ")
Can vibrate. Therefore, the first to third setting processes may be transformed into a process of presenting the overshoot amount of the position of the machine 42 to the user.

The configuration of the setting support device 10 and the servo driver 20 may be different from those described above, and the contour diagram (for example, the contour line) in which the configuration support device 10 is different from the above-mentioned one is displayed. It goes without saying that the contour diagram) may be transformed into a display.

10 Setting support device 11 CPU
12 HDD
15 Setting support program 18 CD-ROM
20 Servo driver 21 Non-volatile memory 22 Motor drive circuit 23 Control unit 31a Low-pass filter 31 Position command filter 31b, 31c Vibration control filter 33 Position controller 35 Speed controller 36 Current controller 37 Speed detector 41 Motor 42 Encoder 45 Machine

Claims (14)

A setting support device that supports the setting of a position command filter in a servo driver, including a first filter having a first parameter.
A measuring means for measuring the response characteristics of the servo system including the servo driver, the servo motor controlled by the servo driver, and the driven body driven by the servo motor, and
Based on the response characteristics of the servo system measured by the measuring means and the information indicating the operating state of the first filter at the time of measuring the response characteristics, the servo in a plurality of situations where the value of the first parameter is different. The response characteristics of the system are simulated, and based on the simulated results of the response characteristics of the servo system in each situation, the first index value, which is an index value of the overshoot amount in each situation, and the time of the position command by the position command filter. Specific means for specifying the second index value, which is the index value of the delay amount, and
It is a graph which shows the relationship between the 1st index value and the 2nd index value on the screen of a display based on the 1st index value and the 2nd index value in each situation specified by the specific means. , A display control means for displaying a graph in which the first index value and the second index value are one of the vertical axis and the other, respectively.
A setting means for setting the value of the first parameter corresponding to a point specified by the user from the graph to the first parameter of the first filter, and
A setting support device characterized by being equipped with. A setting support device that supports the setting of a position command filter in a servo driver, including a first filter having a first parameter and a second filter having a second parameter.
A measuring means for measuring the response characteristics of the servo system including the servo driver, the servo motor controlled by the servo driver, and the driven body driven by the servo motor, and
The value of the first parameter and the value of the second parameter are based on the response characteristic of the servo system measured by the measuring means and the information indicating the operating state of the first filter at the time of measuring the response characteristic. The first index value, which is an index value of the overshoot amount in each situation, is based on the simulation result of the response characteristics of the servo system in each situation by simulating the response characteristics of the servo system in a plurality of situations where the combinations are different from each other. And the specific means for specifying the second index value which is the index value of the time delay amount of the position command by the position command filter, and
Based on the first index value and the second index value in each situation specified by the specific means, the combination of the value of the first parameter and the value of the second parameter and the first index are displayed on the screen of the display. Display control for displaying the first image information indicating the relationship between the values and the second image information indicating the relationship between the value of the first parameter and the value of the second parameter and the second index value. Means and
A setting support device characterized by being equipped with. The display control means sets the value of the first parameter and the value of the second parameter as one or the other of the vertical axis and the horizontal axis as the first image information, and sets the first index value as a color. Alternatively, the first contour diagram represented by the brightness is displayed, and the value of the first parameter and the value of the second parameter are set as one or the other of the vertical axis and the horizontal axis, respectively, as the second image information. Display the second contour diagram in which the second index value is represented by color or brightness.
2. The setting support device according to claim 2. While the first and second image information is displayed on the screen of the display, the user is designated with the first set value which is the value of the first parameter and the second set value which is the value of the second parameter. Further, the setting means for setting the designated first set value and the second set value to the first parameter of the first filter and the second parameter of the second filter, respectively, is provided. The setting support device according to claim 2 or 3. The setting means sets the value of the first parameter and the value of the second parameter corresponding to the position on the first contour diagram or the second contour diagram designated by the user to the first set value, respectively. Treated as the second set value,
The setting support device according to claim 4, wherein the setting support device according to claim 3 is cited. The specific means further comprises the first index value and the second index value in one or more situations in which the first filter is disabled, and one or more in which the second filter is disabled. The first index value and the second index value in the situation are specified.
The setting support device according to any one of claims 2 to 5, wherein the setting support device according to any one of claims 2 to 5. Based on the response characteristics of the servo system measured by the measuring means when the state of the driven body is the first state and the information indicating the operating state of the first filter at the time of measuring the response characteristics. When the first index value and the second index value in each of the plurality of situations specified by the specific means and the state of the driven body are in a second state different from the first state. Based on the response characteristics of the servo system measured by the measuring means and the information indicating the operating state of the first filter at the time of measuring the response characteristics, each of the plurality of situations specified by the specific means. Based on the first index value and the second index value in the situation, the worst value of the first index value and the worst value of the second index value in each situation are specified, and the first index value is displayed on the screen of the display. Third image information showing the relationship between the value of the parameter, the combination of the value of the second parameter, and the worst value of the first index value, and the combination of the value of the first parameter and the value of the second parameter. A second display control means for displaying the fourth image information indicating the relationship with the worst value of the second index value, and
Further prepare,
The setting support device according to any one of claims 2 to 6, wherein the setting support device is characterized. The value of the first parameter is specified by allowing the user to specify the value of the first parameter and the value of the second parameter while the third and fourth image information is displayed on the screen of the display. , A second setting means for setting the value of the second parameter to the first parameter of the first filter and the second parameter of the second filter, respectively.
Further prepare,
The setting support device according to claim 7. The first filter is a low-pass filter.
The second filter is a vibration damping filter.
The setting support device according to any one of claims 2 to 8, wherein the setting support device according to any one of claims 2 to 8. Both the first filter and the second filter are vibration damping filters.
The setting support device according to any one of claims 2 to 8, wherein the setting support device according to any one of claims 2 to 8. The measuring means measures the response characteristics of the servo system by measuring one of the position, speed and acceleration of the motor and the position, speed and acceleration of the driven body as a response to the position command. ,
The setting support device according to any one of claims 1 to 10, wherein the setting support device is characterized. The setting support device according to any one of claims 1 to 11, further comprising a gain adjusting means for adjusting the gain of the servo driver. A setting support program that supports the setting of the position command filter in the servo driver, including the first filter having the first parameter.
To the computer connected to the servo driver
A measurement step for measuring the response characteristics of a servo system including the servo driver, a servo motor controlled by the servo driver, and a driven body driven by the servo motor, and a measurement step.
Based on the response characteristics of the servo system measured in the measurement step and the information indicating the operating state of the first filter at the time of measuring the response characteristics, the servo in a plurality of situations in which the value of the first parameter is different. The response characteristics of the system are simulated, and based on the simulated results of the response characteristics of the servo system in each situation, the first index value, which is an index value of the overshoot amount in each situation, and the time of the position command by the position command filter. A specific step to specify the second index value, which is the index value of the delay amount, and
It is a graph which shows the relationship between the 1st index value and the 2nd index value on the screen of a display based on the 1st index value and the 2nd index value in each situation specified by the specific step. , A display control step for displaying a graph in which the first index value and the second index value are one of the vertical axis and the other, respectively.
A setting step of setting the value of the first parameter corresponding to the point specified by the user from the graph to the first parameter of the first filter, and
A setting support program characterized by executing. A setting support program that supports the setting of a position command filter in a servo driver, including a first filter having a first parameter and a second filter having a second parameter.
To the computer connected to the servo driver
A measurement step for measuring the response characteristics of a servo system including the servo driver, a servo motor controlled by the servo driver, and a driven body driven by the servo motor, and a measurement step.
Based on the response characteristics of the servo system measured in the measurement step and the information indicating the operating state of the first filter at the time of measuring the response characteristics, the values of the first parameter and the values of the second parameter The first index value, which is an index value of the overshoot amount in each situation, is based on the simulation result of the response characteristics of the servo system in each situation by simulating the response characteristics of the servo system in a plurality of situations where the combinations are different from each other. And the specific step of specifying the second index value which is the index value of the time delay amount of the position command by the position command filter, and
Based on the first index value and the second index value in each situation specified by the specific step, the combination of the value of the first parameter and the value of the second parameter and the first index are displayed on the screen of the display. Display control for displaying the first image information indicating the relationship between the values and the second image information indicating the relationship between the value of the first parameter and the value of the second parameter and the second index value. Steps and
A setting support program characterized by executing.

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