JP2014186586A - Supporting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a supporting device for enabling the user to adjust instruction data more easily.SOLUTION: An instruction data generation supporting device 10 comprises: an instruction data generator 106 that generates speed instruction data indicating the relation between the tip speed of an industrial robot and a time point; a response data acquiring unit 112 that acquires speed response data stating the result of an action executed by the industrial robot on the basis of the speed instruction data; and a display controller 118 that causes, when the difference between the speed instruction data and the speed response data is greater than a prescribed standard, a display 102 to display a recommend screen including information on that difference.

Description

  The present invention relates to a support device that supports adjustment of command data describing a desired operation of a mechanical device.

  The motion controller is a device that controls an industrial robot such as a semiconductor transfer robot or an industrial machine such as an XY stage by servo drive. When using a motion controller, usually, position command data including the spatial coordinates of teaching points that define the locus to be drawn by the target part of the controlled machine and speed command data including the speed between the teaching points are separately stored in a PC ( (Personal Computer) etc. and give it to the motion controller.

  Conventionally, a motion controller as described in Patent Document 1 is known. The speed command data that can be given to such a motion controller is, for example, a trapezoidal speed waveform or an S-shaped acceleration / deceleration waveform.

  If you want to move the controlled machine as fast as possible, find the limit value of the trapezoidal velocity waveform height and slope from the limit values of the mechanical characteristics and actuator characteristics of the controlled machine, and when the user decides the waveform parameters, It is conceivable to use the limit value obtained in the above as a reference value.

  On the other hand, when it is desired to suppress the vibration of the controlled machine, it is necessary to smooth the change in acceleration. Therefore, an S-shaped acceleration / deceleration waveform is often applied instead of the trapezoidal velocity waveform. However, in many cases, the relationship between the degree of smoothness of the change in acceleration and the degree of vibration of the controlled machine has not been established. In addition, when the S-shaped acceleration / deceleration waveform is applied, the movement time between the teaching points becomes longer than when the trapezoidal velocity waveform is applied.

  Thus, the trapezoidal velocity waveform and the S-shaped acceleration / deceleration waveform have a trade-off relationship. As represented by this trade-off relationship, at present, a method for theoretically and uniquely deriving optimal command data that meets the needs of the user has not been established.

JP 2002-163006 A

  Therefore, conventionally, the user has adjusted the parameters while repeating trial and error, such as checking the difference between the command and the response by changing the parameter of the command data, and checking the difference by changing the parameter. . This is troublesome for the user.

  The present invention has been made in view of these problems, and an object thereof is to provide a support device that allows a user to adjust command data more easily.

  One embodiment of the present invention relates to a support device. The support device acquires a generation unit that generates command data describing a desired operation of the mechanical device, and response data that describes a result of the operation performed in the mechanical device based on the command data generated by the generation unit. An acquisition unit; and a display control unit that causes a display unit to display a screen including information about the difference when the difference between the command data generated by the generation unit and the response data acquired by the acquisition unit is greater than a predetermined reference; .

  It should be noted that any combination of the above-described constituent elements, or those obtained by replacing the constituent elements and expressions of the present invention with each other between apparatuses, methods, systems, computer programs, recording media storing computer programs, and the like are also included in the present invention. It is effective as an embodiment of

  ADVANTAGE OF THE INVENTION According to this invention, the assistance apparatus for enabling a user to adjust command data more easily can be provided.

It is a schematic diagram which shows an industrial robot system provided with the command data creation assistance apparatus which concerns on embodiment. It is a schematic diagram for demonstrating teaching operation | movement which a user designates operation | movement of the front-end | tip of an industrial robot with a coordinate. It is a schematic diagram which shows an example of speed command data. It is a block diagram which shows the function and structure of the command data creation assistance apparatus of FIG. It is a data structure figure which shows an example of the recommendation information holding part of FIG. It is a typical screen figure of a comparison condition input screen. It is a schematic diagram for demonstrating speed overshoot and speed settling time. It is a schematic diagram for demonstrating the tolerance | permissible_range of a speed deviation. It is a schematic diagram for demonstrating the tolerance | permissible_range of a position deviation. It is a representative screen figure of a recommendation screen. It is a typical screen figure of a speed response data display screen. It is a flowchart which shows an example of a series of processes in the command data creation assistance apparatus of FIG. It is a schematic diagram which shows an example of the control system mounted in a simulation function. It is a schematic diagram which shows an example of the control system and actual machine which are mounted in a command data creation support device.

  Hereinafter, the same or equivalent components, members, and processes shown in the drawings are denoted by the same reference numerals, and repeated description is appropriately omitted.

  FIG. 1 is a schematic diagram illustrating an industrial robot system 2 including a command data creation support apparatus 10 according to an embodiment. The industrial robot system 2 includes a command data creation support device 10, a motion controller 20, an industrial robot 30, a first communication cable 40, and a second communication cable 50. The command data creation support apparatus 10 may be realized by a PC or the like. The industrial robot 30 may be an arm type robot for the purpose of transporting semiconductors.

  The command data creation support apparatus 10 and the motion controller 20 are connected by a first communication cable 40 such as a LAN (Local Area Network). The motion controller 20 and the industrial robot 30 are connected by a second communication cable 50 such as an analog signal line or a digital signal line.

  FIG. 2 is a schematic diagram for explaining the teaching operation in which the user designates the operation of the tip 32 of the industrial robot 30 by coordinates. The user specifies a series of movements of the tip 32 from the start point to the end point by giving a teach point 1 (start point), a teach point 2, a teach point 3, and a teach point 4 (end point). Each teaching point corresponds to a spatial coordinate. These teaching points define the trajectory to be drawn by the tip 32 of the industrial robot 30.

Returning to FIG. 1, the command data creation support device 10 generates operation command data including position command data and speed command data based on a user input. The position command data is data indicating the spatial coordinates and order of teaching points. The speed command data is data indicating a relationship that the speed of the tip 32 and the time should satisfy when the tip 32 of the industrial robot 30 moves along the trajectory defined by the position command data. The motion controller 20 converts the speed of the tip 32 into the speed of each axis of the industrial robot 30.
The “speed” may be an amount that moves per unit time, or may be a displacement per unit time.
Both the position command data and the speed command data are data describing a desired operation of the industrial robot 30.

  The speed command data is data indicating the relationship that the speed and time of each axis of the industrial robot 30 that drives the tip 32 should satisfy when the tip 32 moves along the trajectory defined by the position command data. It may be.

  FIG. 3 is a schematic diagram illustrating an example of speed command data. The graph shown in FIG. 3 is obtained by plotting the speed and time included in the speed command data on the xy plane. In FIG. 3, an S-shaped acceleration waveform and an S-shaped deceleration waveform are shown.

  Returning to FIG. 1, the command data creation support apparatus 10 transmits the generated operation command data to the motion controller 20 via the first communication cable 40. The motion controller 20 controls the industrial robot 30 in real time based on the received operation command data. The motion controller 20 interpolates the speed command data included in the received operation command data into the control cycle of the industrial robot 30 to make a command to the industrial robot 30. The motion controller 20 may be configured using a known motion control technique that transmits an appropriate command to each axis of the industrial robot 30 based on the speed command and the position command.

  The command data creation support device 10 acquires response data describing the result of the operation executed in the industrial robot 30 based on the generated operation command data via the first communication cable 40. The response data includes position response data and velocity response data. The position response data and the speed response data are data in which the spatial coordinates, speed and time of the position of the tip 32 actually measured by the industrial robot 30 during operation are associated with each other.

  When the difference between the operation command data and the response data is larger than the user-specified standard, the command data creation support apparatus 10 notifies the user of information regarding the difference. Thereby, the parameter adjustment of the command value performed by the user can be supported.

  Hereinafter, the case where the command data creation support apparatus 10 generates speed command data and compares the generated speed command data with the corresponding speed response data will be described. However, it will be apparent to those skilled in the art who have touched this specification that the command data creation support device 10 may similarly compare the position command data and the position response data.

  FIG. 4 is a block diagram showing the function and configuration of the command data creation support apparatus 10 of FIG. Each block shown here can be realized by hardware such as a computer (CPU) (central processing unit) and other elements and mechanical devices, and software can be realized by a computer program or the like. Here, The functional block realized by those cooperation is drawn. Therefore, it is understood by those skilled in the art who have touched this specification that these functional blocks can be realized in various forms by a combination of hardware and software.

  The command data creation support device 10 includes a display 102, an input device 104 such as a mouse and a keyboard, a command data generation unit 106, a control target value reception unit 108, a command data transmission unit 110, and a response data acquisition unit 112. A comparison unit 114, a recommendation screen generation unit 116, a display control unit 118, a data holding unit 120, and a recommendation information holding unit 122.

  The data holding unit 120 is obtained from the machine device corresponding to the information related to the machine device to be controlled (in this embodiment, the industrial robot 30), the past speed command data for the machine device, and the speed command data. The speed response data is stored in association with each other. The data holding unit 120 may hold data of experiments or tests performed in the past.

  FIG. 5 is a data structure diagram illustrating an example of the recommendation information holding unit 122. When the difference between the speed command data and the speed response data is large, the recommendation information holding unit 122 holds information about which parameter should be adjusted in order to reduce the difference. The recommendation information holding unit 122 holds the error contents and the parameter to be adjusted in association with each other. For example, an experienced user may register his / her knowledge in the recommendation information holding unit 122 in advance. Alternatively, knowledge obtained as a result of a simulation described later may be registered in the recommendation information holding unit 122.

  The parameter constitutes speed command data. Such parameters include, for example, a target speed, a target acceleration (deceleration) speed, a degree of smoothness of acceleration change, a time when the acceleration change becomes smooth, and a moving time between each teaching point. Although the meanings of these parameters are different from each other, there are some overlapping functions. Therefore, in one example, a plurality of parameters may be selected according to the use of the user.

  Returning to FIG. 4, the command data generation unit 106 generates speed command data. The command data generation unit 106 can generate interactive speed command data in cooperation with the input device 104 and the display control unit 118. The command data generation unit 106 generates speed command data based on input information input from the user via the input device 104. The generation of the speed command data includes generating new speed command data and calling and changing the existing speed command data from a holding unit (not shown). Alternatively, the command data generation unit 106 may acquire speed command data from an external storage device or a network (both not shown).

  The control target value accepting unit 108 accepts designation of a reference for judging the difference between the speed command data and the speed response data from the user. In particular, the control target value receiving unit 108 acquires a control target value in the response of the industrial robot 30. The control target value is a threshold value for the difference between the speed command data and the speed response data. The difference between the speed command data and the speed response data is the difference between the speed value at the corresponding time, the length of the period during which the speed is judged to be shifted, and the theoretical teaching points obtained from the speed command data. Or, the difference between the movement time between the start point and the end point and the actual movement time obtained from the speed response data is included. Hereinafter, the movement time between the start point and the end point is referred to as the total movement time.

The control target value receiving unit 108 displays the comparison condition input screen 124 on the display 102 via the display control unit 118.
FIG. 6 is a representative screen diagram of the comparison condition input screen 124. The comparison condition input screen 124 includes a control target value input area 126 that accepts input of a control target value by the user, an evaluation condition input area 128 that accepts input of an evaluation condition by the user, and an OK button 130. The user inputs an upper limit value of the speed overshoot, an upper limit value of the speed settling time, and an upper limit value of the total movement time deviation in the control target value input area 126. The user inputs a position deviation tolerance range and a speed deviation tolerance range in the evaluation condition input area 128. When the user designates the OK button 130 by clicking the mouse or the like, the control target value receiving unit 108 acquires values input to the control target value input area 126 and the evaluation condition input area 128.

  FIG. 7 is a schematic diagram for explaining speed overshoot and speed settling time. In the graph shown in FIG. 7, the solid line 132 shows the waveform of the speed response data, and the broken line 134 shows the waveform of the speed command data. The speed overshoot is a phenomenon in which the speed response waveform vibrates around the speed command waveform when switching from acceleration to constant speed or switching from deceleration to constant speed. The upper limit value of overshoot is the upper limit value of the maximum amplitude of vibration. The speed settling time is the length of time during which the overshoot continues.

Both the allowable range of position deviation and the allowable range of speed deviation are values used in evaluating the control target value.
FIG. 8 is a schematic diagram for explaining an allowable range of speed deviation. The speed deviation is a difference between the speed of the speed command data and the speed of the speed response data at a certain time. When the speed deviation is out of the set allowable range, it is determined that the speed overshoot continues. That is, the allowable range of the speed deviation is used to determine whether or not the settling is set. In other words, the settling time basically changes when the allowable range of the speed deviation changes. Therefore, it is necessary to determine an allowable range of the speed deviation in evaluating the settling time.

  FIG. 9 is a schematic diagram for explaining an allowable range of position deviation. The position deviation is a distance between the spatial coordinates of the teaching point and the spatial coordinates of the actual position of the tip 32 of the industrial robot 30. When the position deviation is within the allowable range, it is determined that the tip 32 has reached the teaching point.

  Returning to FIG. 4, the command data transmission unit 110 generates operation command data including the speed command data generated by the command data generation unit 106 and the position command data appropriately generated. The command data transmission unit 110 transmits the generated operation command data to the motion controller 20 via the first communication cable 40.

  The response data acquisition unit 112 acquires response data describing the result of the operation executed in the industrial robot 30 based on the operation command data transmitted by the command data transmission unit 110. In particular, the response data acquisition unit 112 receives response data from the motion controller 20 via the first communication cable 40.

  The comparison unit 114 compares the speed command data generated by the command data generation unit 106 with the speed response data included in the response data acquired by the response data acquisition unit 112. The comparison unit 114 determines whether or not overshoot has occurred based on the evaluation condition acquired by the control target value receiving unit 108. When it is determined that overshoot has occurred, the comparison unit 114 compares the maximum overshoot amplitude with the user-specified upper limit value. When the former is larger than the latter, the comparison unit 114 determines that an overshoot that should be notified to the user has occurred.

  When it is determined that overshoot has occurred, the comparison unit 114 compares the overshoot settling time with a user-specified upper limit value. When the former is larger than the latter, the comparison unit 114 determines that an overshoot that should be notified to the user has occurred.

  The comparison unit 114 obtains the theoretical total travel time from the speed command data, and obtains the actual total travel time from the speed response data. When the difference (that is, the total movement time deviation) is larger than the upper limit value designated by the user, the comparison unit 114 determines that the total movement time deviation to be notified to the user has occurred.

  If the comparison unit 114 determines that an overshoot to be notified to the user has occurred, the recommendation screen generation unit 116 generates screen information for displaying the recommendation screen 136 on the display 102. The recommendation screen 136 prompts the user to adjust parameters.

  FIG. 10 is a representative screen diagram of the recommendation screen 136. The recommendation screen 136 includes an overshoot occurrence display area 138 for displaying that an overshoot exceeding the input standard (upper limit) has occurred, a current parameter display area 140 for displaying the current setting values of parameters, and a user-specified display area. A control target value display area 142 for displaying a control target value and a corresponding actual measurement value (in the example of FIG. 10, an upper limit value “setting set time” and an actual set time “current set time” specified by the user); And a recommendation information display area 144 for displaying recommendation information.

  The recommendation screen generation unit 116 refers to the data holding unit 120, and if the parameter correction value for reducing the overshoot can be predicted by (non) linear programming or the like, the correction screen generation unit 116 includes the correction value in the recommendation information. . Instead of or in addition to this, the recommendation screen generation unit 116 may specify a parameter to be adjusted with reference to the recommendation information holding unit 122. The recommendation screen generation unit 116 may include the specified parameter in the recommendation information.

  When the comparison unit 114 determines that the total movement time deviation to be notified to the user has occurred, the recommendation screen generation unit 116 generates screen information for displaying a recommendation screen related to the total movement time on the display 102. The recommendation screen regarding the total travel time is configured in the same manner as the recommendation screen 136 shown in FIG.

  Returning to FIG. 4, the display control unit 118 displays the recommendation screen 136 on the display 102 based on the screen information generated by the recommendation screen generation unit 116. The display control unit 118 causes the display 102 to display a speed response data display screen 146 that represents the speed response data included in the response data acquired by the response data acquisition unit 112 as a graph. At that time, the display control unit 118 emphasizes and displays the portion where the overshoot exceeds the set upper limit, that is, the portion where the parameter should be adjusted.

  FIG. 11 is a representative screen diagram of the speed response data display screen 146. A thin solid line 148 in the graph shown in FIG. 11 indicates the waveform of the speed response data. A portion where an overshoot in which the settling time exceeds the upper limit value specified by the user is indicated by a thick solid line 150. When the user designates thick solid line 150 by placing mouse pointer 152 on thick solid line 150 on speed response data display screen 146, display control unit 118 displays a corresponding recommendation screen such as recommendation screen 136 shown in FIG. It is displayed on the display 102 in a pop-up format. Since such a recommendation screen is not displayed before the thick solid line 150 is designated, the designation of the thick solid line 150 corresponds to the start of the display of the recommendation screen.

  The speed response data display screen 146 may include a speed command data waveform so as to be distinguished from the speed response data waveform. Further, when screen information for displaying a recommendation screen related to the total travel time is generated by the recommendation screen generation unit 116, a recommendation screen related to the total travel time is displayed on the display 102 based on the screen information.

  In the embodiment described above, examples of the holding unit are a hard disk and a semiconductor memory. Further, based on the description of the present specification, each unit is configured by a CPU (not shown), a module of an installed application program, a module of a system program, a semiconductor memory that temporarily stores the content of data read from the hard disk, or the like. It will be understood by those skilled in the art who have touched this specification that it can be realized.

The operation of the command data creation support apparatus 10 having the above configuration will be described.
FIG. 12 is a flowchart illustrating an example of a series of processes in the command data creation support apparatus 10. The command data creation support apparatus 10 generates speed command data (S202). The command data creation support apparatus 10 acquires a control target value from the user (S204). The command data creation support apparatus 10 transmits speed command data (S206). The command data creation support apparatus 10 receives the speed response data (S208). The command data creation support apparatus 10 compares the speed command data with the speed response data (S210). The command data creation support apparatus 10 determines whether or not an overshoot larger than the control target value has occurred (S212). If it is determined that no occurrence has occurred (N in S212), the process ends. If it is determined that it has occurred (Y in S212), the command data creation support apparatus 10 displays a recommendation screen 136 on the display 102 (S214). Thereafter, the process ends.

  According to the command data creation support apparatus 10 according to the present embodiment, when the difference between the speed command and the actual speed response is larger than a user-specified reference, a recommendation screen 136 regarding the difference is displayed on the display 102. Therefore, the user can quickly and easily know that a relatively large difference has occurred in the adjustment operation of the parameter of the speed command data. In addition, it is possible to know parameters to be adjusted to reduce the difference without depending on trial and error. Therefore, the user's work man-hours in the parameter adjustment work can be reduced.

  In addition, the command data creation support apparatus 10 according to the present embodiment provides an interactive environment for adjusting the parameters of the speed command data. Thereby, the user can optimize the adjustment of the controller of the machine device to be controlled and the adjustment of the speed command data more easily as a whole. For example, by adjusting the parameter of the speed command data offline so that overshoot is suppressed, the load of calculation for vibration suppression executed by the controller in real time can be reduced. Response can be improved.

  In addition, command data creation support apparatus 10 according to the present embodiment presents to the user which parameter should be adjusted on recommendation screen 136. Therefore, even an inexperienced user can execute appropriate parameter adjustment in a short time.

  Further, in command data creation support apparatus 10 according to the present embodiment, parameter correction values based on past experimental data and the like are presented on recommendation screen 136. Therefore, more appropriate parameter adjustment is possible.

An application of the command data creation support apparatus 10 according to the embodiment will be described.
(First application)
In the first application, the command data creation support apparatus 10 is equipped with a simulation function of an actual machine, and parameter adjustment is performed using this simulation function.

  FIG. 13 is a schematic diagram illustrating an example of a control system installed in the simulation function. In this control system, the position / velocity command value 154 described in the orthogonal coordinate system is converted into the position / speed command value described in the joint coordinate system of the robot by the first coordinate conversion 156. The difference between the position / speed command value described in the joint coordinate system and the position / speed response value described in the joint coordinate system enters the controller 158. The influence of the disturbance torque model 160 is subtracted from the control data output from the controller 158 and input to the motor model 162. The position / speed response value described in the joint coordinate system output from the motor model 162 is converted into the position / speed response value described in the orthogonal coordinate system by the second coordinate conversion 164. The position / velocity response value described in the orthogonal coordinate system is displayed on the display 102 in the response display 166.

  In the configuration shown in FIG. 10, the gain of the controller 158, the parameters for the coordinate transformation in the first coordinate transformation 156 and the second coordinate transformation 164, the parameter of the motor model 162, the disturbance torque (for example, between the joints of the robot) It is assumed that parameters of the model 160 (interference term, gravity, friction, etc.) have already been given.

  The user inputs the position / velocity command value 154 in the orthogonal coordinate system to the command data creation support device 10 and executes a simulation. The command data creation support apparatus 10 compares the speed response data obtained by the simulation with the input speed command data. The command data creation support apparatus 10 evaluates whether the parameter adjustment is appropriate based on the set control target value.

  In the case of simulation, although it is generally difficult to accurately represent an actual machine with a model (particularly it is difficult to model friction), at least a guideline for parameter adjustment can be obtained. In addition, the operation can be repeated as many times as possible in a short time compared with the adjustment with the actual machine. Therefore, for example, when the parameter that the user wants to adjust can be specified in the range of 0 to 100, the user can use the value specified by the user and the boundary value such as 0, 50, 100, etc. to test the parameter adjustment to the user. Can be given.

(Second application)
In the second application, adjustment using an actual machine is performed.
FIG. 14 is a schematic diagram illustrating an example of a control system and an actual machine implemented in the command data creation support apparatus 10. The position / velocity command value 168 described in the orthogonal coordinate system is converted into a position / velocity command value described in the joint coordinate system of the robot by the third coordinate conversion 170. The difference between the position / velocity command value and the position / velocity response value described in the joint coordinate system enters the controller 172. Control data output from the controller 172 is input to the actual machine 174. The position / velocity response value described by the orthogonal coordinate system output from the actual machine 174 is displayed on the display 102 in the response display 176.

  A portion surrounded by a broken line in FIG. 14 is mounted on the command data creation support apparatus 10. In the actual machine adjustment, as in the simulation, the gain of the controller 172 and the parameters for coordinate conversion in the third coordinate conversion 170 are already given.

  The user inputs the position / velocity command value 168 in the orthogonal coordinate system to the command data creation support apparatus 10 and executes a program for operating the actual machine. The command data creation support device 10 compares the speed response data obtained from the actual machine with the input speed command data. The command data creation support apparatus 10 evaluates whether the parameter adjustment is appropriate based on the set control target value.

  In actual machine adjustment, a communication delay may occur between the command data creation support apparatus 10 and the actual machine. Since the values to be compared in the evaluation in the command data creation support apparatus 10 are the input speed command data and the actual speed response data corresponding thereto, the response between the actual machine and the command data creation support apparatus 10 that receives the response. It is preferable to eliminate or reduce the influence of communication delay. As a method for removing or reducing the influence of the communication delay, an average value of the communication delay is obtained from the experimental data accumulated in advance, and the command data creation support apparatus 10 uses the speed response data to be used on the time axis. There is a method of shifting the average value (to the left). The response data acquisition unit 112 of the command data creation support apparatus 10 may reduce or eliminate the influence of the communication delay from the speed response data by such a method. In this case, the accuracy of evaluation can be increased.

  In the case of actual machine adjustment, evaluation may be performed using data of experiments performed in the past on the target actual machine instead of repeatedly operating as in the simulation. Data of such an experiment may be held in the data holding unit 120. When the command data creation support device 10 is consistent with the speed command data of the past experiment data held in the data holding unit 120 and the speed command data of the current experiment data, for example, the machine device that is the subject of the experiment If the characteristics in the match, the parameter correction value based on the past experimental data is included in the recommendation screen.

  The command data creation support apparatus 10 and its application according to the embodiment have been described above. This embodiment is an exemplification, and it is understood by those skilled in the art that various modifications can be made to each component and combination of processes, and such modifications are within the scope of the present invention.

  In the embodiment, the case where the control target value receiving unit 108 acquires the control target value via the comparison condition input screen 124 has been described, but the present invention is not limited to this. For example, the control target value receiving unit reads a CSV (comma-separated values) file in which control target values are recorded from an external storage medium such as a USB (Universal Serial Bus) memory or a magnetic / optical storage medium. A value may be acquired.

  In the embodiment, the command data creation support device 10 has been described as generating operation command data related to the industrial robot 30, but is not limited thereto. For example, the technical idea according to the present embodiment may be applied to a mechanical device that requires trajectory generation, such as an XY stage or a processing machine.

  In the embodiment, the case where the allowable range of position deviation and the allowable range of speed deviation are used when evaluating the control target value has been described. However, the present invention is not limited to this. For example, the allowable range of position deviation or the allowable range of speed deviation is used. The upper limit value of the range or both may be specified by the user, and the upper limit value specified as such may be handled as the control target value.

  2 industrial robot system, 10 command data creation support device, 20 motion controller, 30 industrial robot, 40 first communication cable, 50 second communication cable.

Claims (7)

A generator for generating command data describing a desired operation of the mechanical device;
An acquisition unit for acquiring response data describing a result of an operation performed in a mechanical device based on the command data generated by the generation unit;
When the difference between the command data generated by the generation unit and the response data acquired by the acquisition unit is larger than a predetermined reference, a display control unit that displays a screen including information on the difference on a display unit, A support apparatus comprising the support device.   The support apparatus according to claim 1, further comprising a designation receiving unit that receives designation of the reference from a user.   The support apparatus according to claim 1, wherein the screen displays information regarding parameters constituting the command data and to be adjusted to reduce a difference.   The support apparatus according to claim 3, wherein the screen displays a correction value of the parameter. When the display control unit displays the command data generated by the generation unit and / or the response data acquired by the acquisition unit on the display means, the command data generated by the generation unit and the acquisition unit And highlight the part where the difference from the response data acquired by is greater than the reference,
The support apparatus according to claim 1, wherein the display control unit starts displaying the screen when an emphasized portion is designated by a user.   The support device according to any one of claims 1 to 5, wherein the acquisition unit reduces or eliminates an influence of delay caused by communication between the support device and the machine device from response data. A function of generating command data describing a desired operation of the mechanical device;
A function of acquiring response data describing a result of an operation executed in the mechanical device based on the generated command data;
When the difference between the generated command data and the acquired response data is larger than a predetermined standard, the computer realizes a function of causing the display unit to display a screen including information regarding the difference. program.

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