JP2021097545A - Motor control system - Google Patents

Abstract

To provide a motor control system that allows a user to set an appropriate trigger condition.SOLUTION: A data selection unit 103 in a servo amplifier 1 selects a monitoring data set that satisfies a trigger condition from the monitoring data sets consisting of monitoring data of N monitoring parameters acquired by a monitoring unit 37, and stores the monitoring data set in a memory 30 as trace data TD. A display control unit 606 in an information processing device 6 determines M monitoring parameters out of N in response to a user command, and displays, on a display unit 609, a certain characteristic diagram SP in which the trace data TD is displayed on a graph having M corresponding axes. A trigger condition setting unit 607 causes a user to select a range of M axes as the next trigger condition TC in the state where the characteristic diagram SP is displayed on the display unit 609.SELECTED DRAWING: Figure 2

Description

The present invention relates to a motor control system, for example, a technique for monitoring an operating state, a control state, and the like of a motor.

In Patent Document 1, command values or actually measured values such as motor speed and torque are used as trigger conditions. For example, when a predetermined threshold value is exceeded, it is determined that the trigger condition is satisfied, and operation data before and after the trigger time is determined. A motor control system is shown that performs a trace (eg, reproduction of the operating waveform) against.

JP-A-2017-169288

The method of Patent Document 1 is effective when the trigger condition is known and appropriate, but various problems may occur when the trigger condition is unknown or inappropriate. As a specific example, for example, when a motor speed that is too low is set as a trigger condition, a period that is originally unnecessary may be regarded as a trace target period in addition to the originally required trace target period. As a result, a large amount of memory is required to store a large amount of operation data (trace data), or a large amount of effort is required to extract the originally required trace target period, or the memory capacity is increased. Due to restrictions, situations such as not being able to acquire the originally required trace data may occur.

The present invention has been made in view of the above problems, and one of the objects thereof is to provide a motor control system capable of setting an appropriate trigger condition by a user.

The above and other objects and novel features of the present invention will become apparent from the description and accompanying drawings herein.

A brief overview of typical embodiments disclosed in the present application is as follows.

A motor control system according to a typical embodiment of the present invention includes a motor and a motor control device for controlling the motor, and includes a monitoring unit, a memory, a data selection unit, a display unit, and display control. It has a unit and a trigger condition setting unit. The monitoring unit monitors N monitoring parameters (N is an integer of 2 or more) obtained from the motor or the motor control device, and acquires a monitoring data set consisting of monitoring data of N monitoring parameters for each monitoring cycle. The data selection unit selects a monitoring data set that satisfies the trigger condition from the monitoring data sets acquired by the monitoring unit, and stores the selected monitoring data set in the memory as trace data. The display control unit determines M monitoring parameters (M is an integer of 2 or more and N or less) from N monitoring parameters according to the user's command, and M axes corresponding to the M monitoring parameters. A characteristic diagram is created in which the trace data is displayed on the graph having the above, and the characteristic diagram is displayed on the display unit. The trigger condition setting unit causes the user to select a range of M axes in the characteristic diagram as a trigger condition in a state where the characteristic diagram is displayed on the display unit.

Briefly explaining the effects obtained by the typical embodiments of the inventions disclosed in the present application, it becomes possible for the user to set an appropriate trigger condition.

It is the schematic which shows the structural example of the motor control system according to Embodiment 1 of this invention. It is a block diagram which shows the structural example of the motor control part in the servo amplifier in FIG. 1A. FIG. 3 is a block diagram showing a configuration example of a main part of each part having a trace function in the motor control system of FIG. 1A. It is a schematic diagram which shows the operation example of the data selection part in FIG. FIG. 2 is a diagram showing an example of a display screen of a display unit in the information processing device. It is a figure explaining the specific example of the setting method of the trigger condition in FIG. It is a flow chart which shows an example of the processing content of the trigger condition setting part corresponding to FIG. It is a figure explaining another specific example of the setting method of the trigger condition in FIG. It is a figure explaining still another specific example of the setting method of the trigger condition in FIG. It is a flow chart which shows an example of the processing content of the trigger condition setting part corresponding to FIG. It is a figure which shows an example of the display screen different from FIG. It is a figure explaining an example of the processing content of the model data generation part in FIG. It is a block diagram which shows the structural example of the main part of each part which bears a trace function in the motor control system according to Embodiment 2 of this invention. It is a figure which shows an example of the display screen which is displayed on the display part by the physical model input part of FIG. It is a schematic diagram explaining the outline of the operation map generated by the operation map generation part in FIG. It is a flow chart which shows an example of the processing content of the operation map generation part in FIG.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In addition, in all the drawings for explaining the embodiment, in principle, the same members are designated by the same reference numerals, and the repeated description thereof will be omitted.

(Embodiment 1)
<< Outline of motor control system >>
FIG. 1A is a schematic view showing a configuration example of a motor control system according to the first embodiment of the present invention. FIG. 1B is a block diagram showing a configuration example of a motor control unit in the servo amplifier in FIG. 1A. The motor control system shown in FIG. 1A includes a motor 2, a servo amplifier (motor control device) 1 that controls the motor 2, a motor load 3, a host controller 5, and an information processing device 6. The motor 2 rotates by receiving electric power from the servo amplifier 1. The motor load 3 is driven by the motor 2 and obtains power by the rotational movement of the motor 2.

The host controller 5 controls the entire system via the servo amplifier 1. As one of them, the host controller 5 transmits a command value related to the operation of the servo amplifier 1 to the servo amplifier 1 and monitors the operation information of the servo amplifier 1. The information processing device 6 is a PC (Personal Computer) or the like operated by a user, and has a communication path between the servo amplifier 1 and the host controller 5, respectively. The information processing device 6 updates the internal parameters of the servo amplifier 1 and collects information on the servo amplifier 1 via various user interfaces (display, keyboard, mouse, etc.), for example.

The servo amplifier 1 includes, for example, an AC / DC converter 11 and an inverter 12 that perform power conversion between a power source 8 that generates commercial AC power and the like and a motor 2, a microcontroller (MCU) 32, and various storage units. To be equipped. The various storage units include a memory (RAM) 30, a non-volatile memory (NVM) 31 such as a flash memory, and a buffer memory 33. A part or all of the various storage units (30, 31, 33) may be mounted in the microcontroller 32.

The AC / DC converter 11 converts the AC power input from the power supply 8 via the AC cable into DC power and supplies it to the inverter 12. The inverter 12 has, for example, a three-phase full bridge conversion circuit including switching elements such as a MOSFET (Metal Oxide Semiconductor Field Effect Transistor) and an IGBT (Insulated Gate Bipolar Transistor). The inverter 12 converts the input DC power into AC power by switching the switching element, and supplies AC power to the motor 2.

The microcontroller 32 includes a trace control unit 35, a motor control unit 36, and a monitoring unit 37. The trace control unit 35 and the motor control unit 36 are mainly implemented by program processing or the like using a CPU (Central Processing Unit). However, the implementation form is not limited to such software, and may be hardware such as FPGA (Field Programmable Gate Array) or ASIC (Application Specific Integrated Circuit), or a combination of software and hardware. There may be. Further, the trace control unit 35 and the motor control unit 36 may be mounted on different microcontrollers. The monitoring unit 37 is implemented by, for example, a combination of an analog-digital converter and program processing using a CPU.

Here, a current detector 13 for detecting three-phase (u-phase, v-phase, w-phase) phase currents Iu, Iv, and Iw is provided on the AC power supply path from the inverter 12 to the motor 2. The motor control unit 36 receives the detection values of the phase currents Iu, Iv, and Iw from the current detector 13 and the position information Pm from the encoder 4A attached to the motor 2 or the encoder 4B installed on the motor load 3. The position information Pa and various command values from the host controller 5 are input. The motor control unit 36 receives these inputs and controls the rotation of the motor 2 via the inverter 36 by the configuration as shown in FIG. 1B.

In FIG. 1B, the encoder communication unit 40 obtains the _{motor position detection value PFB} while communicating inquiries and responses with the encoders 4A and 4B. Further, the host controller communication unit 46 receives the motor position command value P ^* from the host controller 5. The motor control unit 36 ^{calculates an error value between the motor position command value P *} and the motor position detection value _PFB, and outputs the error value to the position controller (APR) 41. The position controller 41 uses, for example, proportional / integral control (PI control) or the like to calculate an operation amount that brings the input error value close to 0 as the motor speed command value ω ^* .

Further, the motor control unit 36 converts the _{motor position detection value P FB into the motor speed detection value ω FB} in the form of obtaining the deviation per unit time, that is, the differential value. The motor control unit 36 calculates an error value between the motor speed command value ω ^* from the position controller 41 and the motor speed detection value ω _FB, and outputs the error value to the speed controller (ASR) 42. Alternatively, the host controller communication unit 46 receives the motor speed command value ω ^** from the host controller 5. The motor control unit 36 ^{calculates an error value between the motor speed command value ω **} and the motor speed detection value ω _FB, and outputs the error value to the speed controller 42. The speed controller 42 calculates a manipulated variable that brings the error value input by either method closer to 0, using, for example, proportional / integral control (PI control), and calculates the manipulated variable as a current command value. Output as I ^*.

_{The current controller (ACR) 43 estimates the electric angle of the motor 2 and the effective current value IFB} of the three-phase current based on the detected values of the phase currents Iu, Iv, and Iw from the current detector 13. Then, the current controller 43 calculates an operation amount Fm that brings the error value between the _{effective current value I FB} and the current command value I ^{* from the speed controller 42 close to zero.} Further, the current controller 43 converts the manipulated variable Fm into a three-phase sine wave signal using the estimated electric angle of the motor 2, and then outputs it to the pulse width modulator 45.

The pulse width modulator 45 compares the three-phase sinusoidal signal from the current controller 43 with the carrier Fc output from the carrier generator 44 to compare the three-phase PWM (Pulse Width Modulation) signal PWMu, Outputs PWMv and PWMw. The inverter 12 of FIG. 1A converts DC power into AC power by switching the three-phase switching elements based on the three-phase PWM signals PWMu, PWMv, and PWMw, and then supplies the DC power to the motor 2. In the servo amplifier 1, heat is generated due to power loss mainly due to the switching of the switching element. Therefore, the servo amplifier 1 may have a fan 17 for promoting cooling, as shown in FIG. 1A.

Further, in the example of FIG. 1A, in addition to the encoder 4A for detecting the rotation axis angle being installed in the motor 2, the encoder 4B is also installed in the motor load 3. For example, when the motor load 3 is a power conversion mechanism using parts such as gears and pulleys, the position of the motor 2 and the motor load 3 are caused by play between the parts and changes in the physical properties of the power transmission shaft. There is a risk that an error will occur in the correspondence with the position of. Therefore, it is desirable to install the encoder 4B also on the motor load 3 and feed back the position information Pa to the servo amplifier 1. This makes it possible to control the position of the motor load 3 with high accuracy.

Here, the motor position detection value P _FB , the motor speed detection value ω _FB , the detection values of the phase currents Iu, Iv, Iw (or the effective current value I _FB ), or the corresponding command values (P ^* , ω). Various parameters can be obtained from the servo amplifier (motor control device) 1 or the motor 2 as represented by ^* , I ^*). Other examples of parameters include the input voltage detection value Vac of the AC / DC converter 11, the output voltage detection value Vdc and the output current detection value Idc, the temperature detection value Tm of the inverter 12, and the fan rotation speed R _{FAN of the fan 17.} And so on. The input voltage detection value Vac is acquired by the voltage sensor 18, the output voltage detection value Vdc and the output current detection value Idc are acquired by the voltage sensor 14 and the current sensor 15, respectively, and the temperature detection value Tm is installed in the inverter 12. It is acquired by the temperature sensor 16.

The monitoring unit 37 in the microcontroller 32 monitors N predetermined (that is, a part or all) of these parameters, and monitors the monitoring data set DS composed of the monitoring data of the N monitoring parameters. Obtained every cycle. Then, the monitoring unit 37 stores the acquired monitoring data set DS in the buffer memory 33 together with the acquired monitoring cycle information (that is, the acquisition time). The monitoring cycle is determined based on, for example, the control cycle of the motor control unit 36, the sampling cycle of the analog-digital converter constituting the monitoring unit 37, and the like. The buffer memory 33 may have at least a memory capacity capable of holding the monitoring data set DS acquired in one monitoring cycle.

Although the details will be described later, the trace control unit 35 selects a monitoring data set DS that satisfies the trigger condition from the monitoring data set DS acquired by the monitoring unit 37 and stores it in the memory (RAM) 30. In other words, the trace control unit 35 stores the monitoring data set DS in the memory (RAM) 30 when the monitoring data set DS held in the buffer memory 33 satisfies the trigger condition. On the other hand, the monitoring data set DS that does not satisfy the trigger condition is erased by the overflow of the buffer memory 33. In the specification, the monitoring data set DS composed of N monitoring data stored in the memory (RAM) 30 is also referred to as trace data.

The non-volatile memory (NVM) 31 appropriately saves trace data in the memory (RAM) 30, various data in the calculation process in the microcontroller 32, and the like. As a result, the trace data in the memory 30 and various data of the microcontroller 32 can be referred to even after the power supply 8 of the servo amplifier 1 is cut off.

For example, the information processing device 6 can directly read the recorded information of the non-volatile memory 31 in the servo amplifier 1 via the communication path with the servo amplifier 1. Alternatively, the information processing device 6 can indirectly read the recorded information of the non-volatile memory 31 in the servo amplifier 1 via the communication path with the host controller 5. These communication paths may be based on any communication standard regardless of wired communication or wireless communication, and typically conform to industrial communication standards such as USB (Universal Serial Bus) and RS-485. It may be a thing.

Further, the host controller 5 and the information information device 6 are connected to the wide area communication network 70 via a wired router or a wireless router 72 having functions such as Wi-Fi (registered trademark) and Bluetooth (registered trademark), respectively. It is possible to connect. In this case, the host controller 5 and the information information device 6 can communicate with each other via the wide area communication network 70 to the data server (cloud) 71 installed at the remote location, the portable tablet terminal 73, and the like.

<< Details of trace function >>
FIG. 2 is a block diagram showing a configuration example of a main part of each part having a trace function in the motor control system of FIG. 1A. FIG. 2 shows a servo amplifier (motor control device) 1, a host controller 5, an information processing device 6, and a data server (cloud) 71 in the motor control system of FIG. 1A. Each of these parts realizes a tracing function (for example, reproduction of an operating waveform) while exchanging data with each other. At this time, since each part can realize the trace function by exchanging data with the necessary part when necessary, it is not necessary to connect all of them at all times.

In addition to the monitoring unit 37, the buffer memory 33, and the memory (RAM) 30 shown in FIG. 1A, the servo amplifier 1 includes a monitoring condition setting unit 102, a data selection unit 103, and model data included in the trace control unit 35 of FIG. 1A. It includes a generation unit 104, a correlation calculation unit 105, and a non-volatile region evacuation unit 106. The host controller 5 includes a storage unit 530 and a model data generation unit 504.

The information processing device 6 includes a storage unit 630, a model data generation unit 604, a display control unit 606, a display unit 609, a trigger condition setting unit 607, and a data file storage unit 608. The data server 71 includes a storage unit 730, a model data generation unit 704, and a software update unit 709. Hereinafter, various details of the trace function realized by using these will be described.

<< Trigger condition setting function and trace result display function >>
In the servo amplifier 1 of FIG. 2, the monitoring condition setting unit 102 sets the monitoring condition MC for the monitoring unit 37, for example. The monitoring condition MC includes, for example, a monitoring cycle, a monitoring period, a measurement range, and the like. In this example, a predetermined initial monitoring condition is used as the monitoring condition MC. The monitoring unit 37 monitors N monitoring parameters obtained from the motor 2 or the servo amplifier 1 as described above based on the monitoring condition MC from the monitoring condition setting unit 102, and the monitoring data of the N monitoring parameters. Acquire D as the monitoring data set DS.

At this time, the monitoring data set DS is acquired at each monitoring cycle set within the set monitoring period. For example, when the monitoring unit 37 includes an analog-to-digital converter (ADC), the monitoring period corresponds to the enable period of the ADC, and the monitoring cycle corresponds to the sampling cycle of the ADC. Further, the measurement range in the monitoring condition MC corresponds to the input range of the ADC. The monitoring unit 37 sequentially stores the monitoring data set DS acquired in this way in the buffer memory 33.

The data selection unit 103 selects a monitoring data set DS that satisfies the trigger condition TC from the monitoring data set DS (N monitoring data D) acquired by the monitoring unit 37, and stores it in the memory (RAM) 30. In other words, the data selection unit 103 determines whether or not the monitoring data set DS stored in the buffer memory 33 satisfies the trigger condition TC, and if the trigger condition TC is satisfied, the monitoring data set DS is stored in the memory 30. Store.

FIG. 3 is a schematic diagram showing an operation example of the data selection unit in FIG. FIG. 3 shows an example of how the N monitoring data D1 to Dn acquired by the monitoring unit 37 change according to the time t. The N monitoring data D1 to Dn constitute the monitoring data set DS. Here, in the example of FIG. 3, a predetermined range is defined as the trigger condition TC1 for the monitoring data D1, and a predetermined range is defined as the trigger condition TC2 for the monitoring data D2.

The data selection unit 103 has M (here, 2) in which trigger conditions are set for the monitoring data set DS (N monitoring data D1 to Dn) acquired at each time t (each monitoring cycle). It is determined whether or not the monitoring data D1 and D2 of the monitoring parameters of the above are within the range of the trigger conditions TC1 and TC2, respectively. Specifically, the data selection unit 103 determines whether or not the monitoring data D1 exists within the range of the trigger condition TC1 and the monitoring data D2 exists within the range of the trigger condition TC2.

Then, as shown in FIG. 3, the data selection unit 103 selects the monitoring data set DS determined to exist within the range of the trigger conditions TC1 and TC2 and stores it in the memory (RAM) 30. On the other hand, the monitoring data set DS determined not to exist within the range of the trigger conditions TC1 and TC2 is not stored in the memory (RAM) 30, and as a result, is erased in the form of overflowing from the buffer memory 33 of FIG. To. Then, each monitoring data set DS stored in the memory (RAM) 30 becomes the trace data TD.

Here, the more appropriate the trigger conditions TC1 and TC2 are, the more it becomes possible to store only the originally necessary trace data TD in the memory 30. That is, if the trigger conditions TC1 and TC2 are not appropriate, for example, if they are too wide, a large amount of trace data TD that is originally unnecessary will be stored in the memory 30. In this case, a situation in which a lot of labor is required to extract the originally required trace data TD from the memory 30, a situation in which the originally required trace data TD cannot be obtained depending on the memory capacity (that is, a missed case), etc. Can occur. Further, when the trigger conditions TC1 and TC2 are too narrow, a situation may occur in which only a part of the originally required trace data TD can be acquired (that is, the trace data is missed).

On the other hand, the user attempts to perform tracing (reproduction of an operating waveform, etc.) by setting some trigger conditions, for example, when some trouble occurs in the motor control system. In this case, as described above, it is desirable that the trigger condition TC is appropriate. However, in order to optimize the trigger condition TC, the user has conventionally had to repeat trial and error on an ad hoc basis in a state where the underlying information is insufficient. Therefore, it is beneficial to use the trigger condition setting function of the first embodiment described below.

The trigger condition TC is set by using the information processing device 6 as shown in FIG. The information processing device 6 copies the trace data TD stored in the memory (RAM) 30 (or the non-volatile memory (NVM) 31 of FIG. 1A) of the servo amplifier 1 to a storage unit 630 such as a hard disk drive or RAM. The display control unit 606 creates a characteristic diagram SP that displays predetermined monitoring data D in the trace data TD by, for example, a program process using a CPU, and displays the characteristic diagram SP on the display unit 609. Let me. The display unit 609 is, for example, a liquid crystal display or the like.

FIG. 4 is a diagram showing an example of a display screen of a display unit in the information processing apparatus in FIG. The display screen shown in FIG. 4 includes a menu bar section 61 at the upper end, a tree display-shaped project display section 62 at the left in the middle row, a message display section 64 at the lower end, and a waveform display section 67 at the right in the middle row. The menu bar unit 61 is provided with a character display indicating a generic name of functions such as "file", "edit", "display", "configuration", "parameter", "monitor", and "auto trigger" in a horizontal row, for example. When the user makes an arbitrary input such as clicking and pressing the pointer close to each character by operating the mouse, for example, the transition to the corresponding function screen or the pop-up display of the function window is performed.

The project display unit 62 displays data associated with the project file corresponding to each function selected in the menu bar unit 61 in a tree shape together with its representative name. The message display unit 64 may indicate the calculation progress status of the screen software, guidance for prompting the user to perform the next operation, and the like.

The waveform display unit 67 displays the characteristic diagram SP created by the display control unit 606 described above. That is, the display control unit 606 first determines M monitoring parameters (M is an integer of 2 or more and N or less) from the N monitoring parameters according to the user's command, and sets the M monitoring parameters as the M monitoring parameters. Create a graph with corresponding M axes. In this example, two monitoring parameters consisting of the motor position detection value P _FB and the motor effective current value I _FB are defined, and the motor position detection value P _FB and the effective current value I _FB are the X-axis and the Y-axis, respectively. Assigned to.

Then, the display control unit 606 creates a characteristic diagram SP as a trace result by displaying the corresponding monitoring data in the trace data TD stored in the storage unit 630 (and thus the memory 30) on the graph. .. In this example, as the characteristic diagram SP, a diagram is created in which the correspondence between _{the motor position detection value PFB} and the effective current value _{IFB is plotted for each monitoring data set DS constituting the trace data TD.} In addition to the X-axis and Y-axis, appropriate grid lines and legends may be displayed on the characteristic diagram SP.

Thus, the user can subject the trace data TD obtained based on the previous trigger conditions TC, viewing the relationship between the motor position detection value P _FB and effective current value I _FB. In addition, since the user can arbitrarily select the monitoring parameters defined on the axis of the graph from N, the correspondence is not limited to the correspondence between _{the motor position detection value P FB} and the effective current value I _{FB, but the correspondence from various viewpoints.} The relationship can be visually recognized. Further, the user can set the number of axes of the graph not only to 2 axes but also to 3 axes and the like.

Here, the user can determine the next trigger condition TC with reference to such a characteristic diagram SP. Specifically, the trigger condition setting unit 607 of FIG. 2 sets the range of M (here, 2) axes in the characteristic diagram SP in the state where the characteristic diagram SP is displayed on the display unit 609 as the trigger condition TC. Let the user select as. The trigger condition setting unit 607 is implemented by, for example, program processing using a CPU.

In the example of FIG. 4, the user selects an arbitrary area 65 (that is, the area to be traced next time) in the characteristic diagram SP by using, for example, a mouse drag operation or the like. The trigger condition setting unit 607 detects the range of the axis corresponding to this region 65. When the trigger condition setting unit 607 detects the range of the axis corresponding to the area 65, the trigger condition setting unit 607 controls the display unit 609 via the display control unit 606 to cause the waveform display unit 67 to display the pop-up screen 66.

On the pop-up screen 66, the range of the axis detected by the trigger condition setting unit 607 is displayed, and in addition to this, buttons for "plot reference", "apply", and "cancel" are provided. When the "Apply" button is pressed by the user, the trigger condition setting unit 607 sets the range of the axis as the next trigger condition TC in the data selection unit 103 in the servo amplifier 1 of FIG.

On the other hand, when the "Cancel" button is pressed, the trigger condition setting unit 607 deletes the pop-up screen 66 from the waveform display unit 67 without updating the next trigger condition TC. When the "Plot reference" button is pressed, the trigger condition setting unit 607 accepts the resetting of the area 65 (that is, the drag operation again by the user) while displaying the pop-up screen 66. Further, the pop-up screen 66 may be provided with input functions such as various check boxes and radio buttons related to the setting of the trigger condition.

FIG. 5 is a diagram for explaining a specific example of the method for setting the trigger condition in FIG. 4, and FIG. 6 is a flow chart showing an example of the processing content of the trigger condition setting unit corresponding to FIG. In FIG. 5, the trigger condition setting unit 607 has XY coordinates (X ₁ , Y _{1 ) on the graph when the mouse is turned on during the drag operation and XY coordinates (X 2} , Y ₂ ) when the mouse is turned off. ) And. The trigger condition setting unit 607 defines _{the range of X 1 to} X ₂ as the trigger condition TC of the corresponding monitoring parameter (for example, the motor position detection value _{PFB ), and sets the range of Y 1 to Y 2} as the corresponding monitoring. It is defined in the trigger condition TC of the parameter (for example, effective current value I _FB).

In FIG. 6, the trigger condition setting unit 607 displays an initial message on the message display unit 64 (step S1), and the area 65 is input to the user (step S2). Subsequently, the trigger condition setting unit 607 calculates the maximum / minimum coordinates of the input area 65 (step S3), and updates the numerical value displayed on the pop-up screen 66 based on the calculation result (step S4). After that, the trigger condition setting unit 607 displays a message on the message display unit 64 for the user to determine whether or not the updated numerical value can be applied (step S5).

FIG. 7 is a diagram illustrating another specific example of the method of setting the trigger condition in FIG. In FIG. 7, the trigger condition setting unit 607 obtains the distance r between the two points based on _{the XY coordinates (X 1} , Y ₁ ) and (X ₂ , Y _{2) of the two points as described above, and obtains the initial coordinates (X 1, Y 2).} A region 65 is defined as a region within the range of ± r for both the X-axis and the Y-axis with respect to _{X 1} , Y _1).

FIG. 8 is a diagram illustrating still another specific example of the method of setting the trigger condition in FIG. 4, and FIG. 9 is a flow diagram showing an example of the processing content of the trigger condition setting unit corresponding to FIG. FIG. 8 shows a method of designating a region surrounding a plurality of coordinates as a region 65. The trigger condition setting unit 607 records the _{cursor coordinates as (X 1} , Y ₁ ), ..., (X _n , Y _n ) each time it detects a click during input of, for example, the "Ctrl key". Then, the trigger condition setting unit 607 _{determines the range of the X axis by the maximum value and the minimum value in X 1 to} X _n , and determines the range of the Y axis by the maximum value and the minimum value in Y _{1 to Y n.} , The area 65 is defined based on these ranges. The processing content of the trigger condition setting unit 607 in this case is the same as that in FIG. 6 except that the confirmation of the “Ctrl key” is entered in step S2 as shown in FIG.

The trigger condition setting method is not limited to these three specific examples, and various methods can be used. For example, the trigger condition setting unit 607 _{transmits the initial coordinates (X 1} , Y ₁ ) and the distance r shown in FIG. 7 to the data selection unit 103, and the data selection unit 103 centers on the _{coordinates (X 1} , Y _1). It is also possible to recognize it as a circular region having a radius r and a trigger condition TC. Alternatively, the trigger condition setting unit 607 can transmit a plurality of coordinate information as shown in FIG. 8 to the data selection unit 103, and the data selection unit 103 can recognize the linearly interpolated polygonal region as the trigger condition TC. It is also possible to configure the user to directly input a numerical value in the range of the trigger condition TC via keyboard operation.

By using the motor control system as described above, the user can determine the trigger condition TC based on the characteristic diagram SP while visually recognizing the characteristic diagram SP centered on an arbitrary monitoring parameter. As a result, the user can obtain useful information for determining the trigger condition TC from the characteristic diagram SP, and as a result, the motor control system allows the user to set an appropriate trigger condition TC. Further, this makes it possible to improve the analysis efficiency when the user performs various analyzes based on the trace result.

Explaining with a specific example, for example, as a general trace result, a waveform of a current value change on the time axis can be obtained. However, even if there is some abnormality in the current value at this time, it may not be easy to find the cause from the corresponding time information. On the other hand, for example, as shown in FIG. 4, from the viewpoint of the correspondence between the motor current value and the motor position, the user can infer that the motor position is one of the causes of the abnormality.

The user can further narrow down the trigger condition TC based on this correspondence. For example, by including the motor position in the trigger condition TC in addition to the current value, an abnormal phenomenon that occurs periodically on the time axis, for example, can be detected by using the memory 30 having a limited capacity. It is possible to consider more cycles as targets instead of some less cycles. Then, the user can pursue the true cause of the abnormality by appropriately referring to, for example, the correspondence including other monitoring parameters for the result after narrowing down the trigger condition TC.

<< Model data generation function >>
FIG. 10 is a diagram showing an example of a display screen different from that of FIG. The display screen of FIG. 10 is different from the display screen of FIG. 4 in the display content of the waveform display unit 67. The waveform display unit 67 of FIG. 10 displays a waveform of a time change of the current value as one of the trace results. In this case, the display control unit 606 of FIG. 2 may create a graph in a state where the X-axis monitoring parameter is assigned to the time and the Y-axis monitoring parameter is assigned to the current value in response to an instruction from the user. At this time, the user can also select a graph display format such as a plot diagram or a line graph for the display control unit 606.

Further, the user can select the trace data TD to be displayed on the waveform display unit 67 from the project display unit 62. Specifically, for example, when the kth trace is performed by the monitoring unit 37, the data selection unit 103, or the like in FIG. 2, the trace data TD obtained by the kth trace is stored in the memory (RAM) 30. To. The trace data TD is separately transferred to the non-volatile memory (NVM) 31 of FIG. 1A. Similarly, when the k + 1st trace is performed, the trace data TD obtained by the k + 1th trace is stored in the memory (RAM) 30 and then separately transferred to the non-volatile memory (NVM) 31.

In this way, the non-volatile memory (NVM) 31 (and by extension, the storage unit 630 in the information processing 6 of FIG. 2) stores a plurality of trace data TDs corresponding to a plurality of traces. The user can select one or more trace data TDs to be displayed on the waveform display unit 67 from the plurality of trace data TDs. In this example, the name of each trace data TD and the corresponding check box are displayed under the tree "saved data" in the project display unit 62. When the check box is checked by the user, the display control unit 606 creates a trace waveform of the corresponding trace data TD.

Further, the display control unit 606 can display the model waveform on the waveform display unit 67 as shown in FIG. Specifically, in FIG. 2, the model data generation unit 604 in the information processing apparatus 6 generates model data MD which is typical data of monitoring data D (trace data TD). The display control unit 606 creates a model waveform based on the model data MD in addition to the trace waveform based on the selected trace data TD, and displays the model data MD in addition to the selected trace data TD. Is displayed on the display unit 609.

The model data MD is, for example, pre-learning to estimate normal time data (that is, typical data) for each monitoring parameter at each time. By displaying the trace waveform and the model waveform side by side as shown in FIG. 10, the user can visually recognize the inherent deviation of the trace waveform. The model data generation unit 604 is implemented by, for example, program processing using a CPU.

FIG. 11 is a diagram illustrating an example of the processing content of the model data generation unit in FIG. In FIG. 11, as a premise, for example, a fixed cycle trace for four times is performed on a system in a normal state by setting a predetermined period as a trigger condition TC in advance. The model data generation unit 604 refers to the four trace data 300A to 300D stored in the storage unit 630. Each trace data includes time, position, current and other monitoring parameters.

The model data generation unit 604 can create, for example, the average value of the current each time with the position as an argument as the data table 300R (that is, the model data MD) by analyzing the appearance frequency of the current with respect to the position. As a result, when the display control unit 606 subsequently creates the waveform of the trace data 300E acquired under the predetermined trigger condition TC, the display control unit 606 extracts the position information of the trace data 300E at each time and corresponds to the position information. The average current can be obtained from the data table 300R. As a result, the display control unit 606 can create a model waveform based on the acquired average current.

Although the example of generating the model data MD with the average value of four times has been described here, the calculation method of the model data MD is not limited to this, and a learning calculation method such as a neural network may be used. For example, as shown in FIG. 2, the model data generation unit may be mounted not only on the information processing device 6, but also on the servo amplifier 1, the host controller 5, the data server (cloud) 71, and the like.

In this case, for example, the data in the memory (RAM) 30 of the servo amplifier 1 is sequentially transferred to a higher-level device. That is, the data in the memory (RAM) 30 is transferred to the storage units 530 and 630 of the host controller 5 and the information processing device 6, and the data in the storage unit 530 is stored in the storage units 630 and 730 of the information processing device 6 and the data server 71. The data in the storage unit 630 is transferred to the storage unit 730 of the data server 71.

On the contrary, the model data MD generated by the model data generation unit 704 of the data server 71 is sequentially transferred to a lower device. That is, the model data from the model data generation unit 704 is transferred to the model data generation units 604 and 504 of the information processing device 6 and the host controller 5, and the model data from the model data generation unit 604 and the model data generation unit 504 from the model data generation unit 604. The model data is transferred to the model data generation unit 104 of the servo amplifier 1.

The model data generation unit at each transfer destination has a function of updating its own model data with the model data transferred from the upper level. Since the essential function of the model data generation unit is learning, advanced estimation is possible by collecting more learning data. Therefore, by using the structure of the hierarchical information transmission system in this way, more information can be gathered in the computer with higher computing power, and the computing power of each layer can be minimized and advanced estimation calculations can be performed. A compatible low-cost system can be realized.

<< Correlation calculation function >>
As described above, the trace data TD stored in the memory (RAM) 30 is appropriately saved in the non-volatile memory (NVM) 31 of the servo amplifier 1. At this time, the servo amplifier 1 can selectively save all the trace data TDs stored in the memory (RAM) 30 instead of saving them in the non-volatile memory (NVM) 31. This will be described below.

The correlation calculation unit 105 in the servo amplifier 1 of FIG. 2 calculates the correlation between the model data MD from the model data generation unit 104 and the trace data TD stored in the memory (RAM) 30. At this time, the initial trace time or the initial phase may differ between the model waveform based on the model data MD and the trace waveform based on the trace data. In this case, the correlation calculation unit 105 may find the maximum correlation while shifting the initial time or initial phase of the model waveform. At the time of this correlation calculation, the correlation calculation unit 105 may use, for example, Pearson's correlation coefficient.

The non-volatile area saving unit 106 of FIG. 2 saves the trace data TD in the memory (RAM) 30 to the non-volatile memory (NVM) 31 of FIG. 1A based on the correlation value calculated by the correlation calculation unit 105. For example, if the correlation value is 1, it can be determined that the behavior is normal and repeated, so data saving is not essential. Further, when the correlation value is 0, the behavior is clearly changed and can be detected by the host controller 5 or the like, so it is not essential to save the data.

However, if the correlation value changes slightly, for example, from 0.95 to 0.90, it cannot be detected by the host controller 5 or the like because it is a small change, and it can only be detected by the servo amplifier 1. There is sex. Therefore, in such a case, the non-volatile area saving unit 106 may save the corresponding trace data TD in the memory (RAM) 30 to the non-volatile memory 31. The non-volatile region evacuation unit 106 may determine whether or not evacuation is necessary based on, for example, the comparison result of the feature amount between the trace data TD and the model data MD as well as the correlation value. Examples of the feature amount include a method using any of various parameters such as an average value and an effective value, or a combination of various parameters.

In FIG. 2, the data file storage unit 608 in the information processing device 6 stores the processing data of each part in the information processing device 6 and the trace data TD collected from the servo amplifier 1 in the hard disk or the like of the information processing device 6. It is stored in a medium (including a storage unit 630). This makes it possible to reuse various types of data. Further, the software update unit 709 in the data server 71 updates the firmware of the host controller 5 and the application programs of each unit in the information processing device 6. This makes it possible to improve various learning functions, for example, and contribute to increasing the availability of trace waveform collection.

<< Main effect of Embodiment 1 >>
As described above, by using the motor control system of the first embodiment, it is possible to typically make the user set an appropriate trigger condition. As a result, it is possible to improve the analysis efficiency when the user performs various analyzes based on the trace result, reduce the capacity of the memory (that is, the memory (RAM) 30) used for the trace, and the like.

(Embodiment 2)
<< Details of trace function >>
FIG. 12 is a block diagram showing a configuration example of a main part of each part having a trace function in the motor control system according to the second embodiment of the present invention. In the motor control system shown in FIG. 12, the following blocks are further added to the configuration example shown in FIG. That is, the information processing device 6 of FIG. 12 further includes a physical model input unit 601 implemented by program processing using a CPU, a monitoring condition determination unit 602, an operation map generation unit 603, and a trigger condition change unit 605. Further, the data server (cloud) 71 of FIG. 12 further includes a monitoring condition determination unit 702 and an operation map generation unit 703 implemented by program processing using a CPU or the like.

《Physical model editing function》
The physical model input unit (load information input unit) 601 in the information processing device 6 is a GUI (Graphical User) for causing the user to input the load information of the motor load 3 of FIG. 1A via the display screen of the display unit 609. Interface) is provided. FIG. 13 is a diagram showing an example of a display screen displayed on the display unit by the physical model input unit of FIG. In the display screen shown in FIG. 13, the model editing unit 63 is displayed at the position of the waveform display unit 67 shown in FIG.

The user can input the load information (for example, the connection state) of the motor load 3 via the model editing unit 63. As a specific example, the physical model input unit 601 sets a desired model from a plurality of types of models registered in the library in advance as an icon on the model editing unit 63 in response to a drag-and-drop operation by the user, for example. Deploy. Further, the physical model input unit 601 connects between the node terminals included in each of the arranged models in response to a click operation or the like by the user.

In the model group, for example, a model unified for each functional classification such as a motor, a shaft, a gear, and a cam is provided. Further, for the model (icon) arranged on the model editing unit 63, parameters indicating individual detailed characteristics and performance can be independently input. As a result, the physical connection form inside each model or between models can be schematically displayed, the display screen can be simplified, and intuitive operability can be provided to the user.

For example, as shown in FIG. 13, the motor load 3 is drawn by connecting a plurality of shaft models (S1 to S3) with a model (G) such as a gear / pulley. At this time, since the motor load 3 is connected to each motor model (M), the model group after input becomes a tree diagram starting from the motor model (M).

Therefore, the physical model input unit 601 limits the arrangement area of the motor model (M) to the left end of the screen, or restricts the desired model to be sequentially arranged to the right from the motor model (M). You may put restrictions on the placement location and placement direction, such as. As a result, the model group after input is arranged in a mesh pattern, so that the risk of complicated decoding can be reduced.

Further, when the model arranged on the model editing unit 63 is selected by double-clicking or the like, the physical model input unit 601 activates a pop-up screen 69 on which parameters can be input by the user. Then, the user can input specifications indicating the physical characteristics of the shaft such as material, shape, outer diameter, inner diameter, and length through the pop-up screen 69 corresponding to the shaft model S2, or by using a pull-down menu. It is possible to select. In addition, some models, such as cams, fluctuate with respect to the motor phase. Therefore, the physical model input unit 601 displays the XY plot axes and the like on the pop-up screen 69 corresponding to the cam model (L1) and the like. The user can input a cam curve to the XY plot axis by clicking with a mouse or the like.

The monitoring condition determination unit 602 of FIG. 12 determines the monitoring condition MC used by the monitoring unit 37 in the servo amplifier 1 based on the model information (load information) input by the physical model input unit (load information input unit) 601. To do. The monitoring condition MC includes a monitoring cycle in the monitoring unit 37 (for example, ADC sampling cycle), a monitoring period for continuous monitoring in the monitoring cycle (for example, ADC enable cycle), and the like. .. The monitoring condition setting unit 102 in the servo amplifier 1 sets the monitoring condition MC from the monitoring condition determination unit 602 in the monitoring unit 37.

For example, the moment of inertia of the shaft can be obtained as information from the parameters such as the material of the shaft model and the outer diameter and inner diameter. Braking against the assumed motor load 3 by considering whether the servo performance (specifically, the torque that can be output) of the servo amplifier 1 input separately is sufficient for the moment of inertia with respect to the moment of inertia. You can estimate the time and so on.

Therefore, the monitoring condition determination unit 602 can estimate in advance an appropriate length of the monitoring period when the motor load 3 input by the physical model input unit 601 is targeted. Further, the monitoring condition determination unit 602 can estimate the amount of twist of the shaft by considering the length of the shaft and the like, and can also estimate the monitoring cycle (sampling cycle) so that sufficient resolution can be obtained for the twist. It is possible. As a result, the risk of shortening the monitoring period can be reduced, the situation where the monitoring cycle becomes excessively short can be suppressed, and the capacity of the memory (RAM) 30 required for tracing can be saved.

As a specific program example, the monitoring condition determination unit 602 calculates the monitoring period by multiplying the moment of inertia by an arbitrary constant of proportionality, or sets the monitoring period to the inverse proportional to the length of the shaft. The process of calculating with the formula may be executed. The formulas and constants used in this calculation are predetermined according to the characteristics of each physical model.

Further, as shown in FIG. 12, a monitoring condition determination unit 702 is provided on the data server 71, for example, the model information obtained by the information processing device 6 is once transferred to the data server 71, and the monitoring condition MC is set by the data server 71. The configuration may be such that the calculation is performed and the calculation result is returned to the information processing device 6. As described above, in the form of using the data server 71, more samples can be used for learning the model information, which can be expected to contribute to the improvement of the accuracy of the output value and the sophistication of the physical model. Further, as one form of the monitoring condition determination unit, a simulation function for simulating the feedback control of the servo amplifier 1 may be built in.

<< Operation map generation function >>
The operation map generation unit 603 of FIG. 12 has a relationship between the rotation phase of the motor 2 and the operation range of the motor load 3 based on the model information (load information) input by the physical model input unit (load information input unit) 601. Generate an operation map WM showing. FIG. 14 is a schematic diagram illustrating an outline of an operation map generated by the operation map generation unit in FIG. In FIG. 14, the horizontal axis represents the rotation phase of the motor 2, and the vertical axis shows the operating ranges of the load A and the load B as an example of the operating range of the motor load 3.

Here, based on the model information input by the physical model input unit 601, the load A operates once every one rotation of the motor 2, and the load B operates twice every three rotations of the motor 2. Suppose that they are connected by gears. Further, it is assumed that both the load A and the load B are operated by a cam or the like, and the loads A and B are periodically operated with respect to the rotational behavior of the motor 2.

14, operation range of the load A (load duration in other words) is _{"L A",} a generation period _{"L 1",} the initial phase is "[Delta] P _1". Further, operation range of the load B is _{"L B",} generation period is _{"L 2",} the initial phase is "[Delta] P _2". Operating range _L A, _{L B} is determined based on the cam curve shown in FIG. 13, the generation period _L 1, _{L 2} are determined based on the gear ratio.

In this model, the operating range of loads A and B can be mapped with a rotation phase of at least 3 rotations regardless of the initial phase. As shown in FIG. 14, the operation map generation unit 603 decomposes the map in the rotation phase for three rotations into the occurrence frequency information for each rotation, and then aggregates it into a histogram for the rotation phase of the motor 2. Generate the operation map WM with.

FIG. 15 is a flow chart showing an example of the processing content of the operation map generation unit in FIG. In FIG. 15, the operation map generation unit 603 prepares a map length as an array, for example, with the least common multiple of the gear ratio (step S11), and allocates a load point (load operation range) on the axis from the gear cam constant (step). S12). Subsequently, the operation map generation unit 603 divides the entire length of the array into units of the rotation cycle of the motor 2 (step S13), and totals the appearance frequency of each load point for each rotation cycle (step S14). Based on this, the operation map generation unit 603 generates, for example, matrix data or the like representing the relationship between the rotation phase of the motor 2 and the load point as the operation map WM (step S15).

Here, the information of the load point in step S12 is defined as, for example, the array data “1” when there is a load point and the array data “0” when there is no load point. The cam load point is determined, for example, by converting the cam curve input on the pop-up screen 69 of FIG. 13 into a pulse waveform using a predetermined threshold value (for example, a gradient threshold value). Further, in step S15, the operation map generation unit 603 may determine the weighting coefficient of the neural network by repeatedly learning the generated operation map WM by using a method such as a neural network.

In this case, as shown in FIG. 12, an operation map generation unit 703 is provided on the data server 71, the information information device 6 once transfers the model information to the data server 71, and the operation map generation unit 703 is a neural network. After calculating the weighting coefficient of, the calculation result may be returned to the information processing apparatus 6. In this way, if the data server 71 is used, more samples can be used for learning, which can be expected to contribute to improving the accuracy of the operation map WM.

Here, as shown in FIG. 4 and the like, the user can determine the trigger condition TC including the motor position by selecting the area 65 on the characteristic diagram SP based on the actual operation data. However, for example, in the case of a servo system that operates the motor load 3 using gears and cams, the load defined as the trace target due to the selection of the region 65 is not limited to one phase band, but is equally operating in a plurality of phase bands. It may be. In this case, the phase band that should be the trace target may be excluded from the trace target.

For example, in the example of FIG. 14, the load points of the load B exist in two different phase bands in the rotation phases of the motor 2 from 0 to 2π, and one of them depends on the region 65 on the characteristic diagram SP. Even if a phase band is selected as the trigger condition TC, the other phase band can be excluded from the trigger condition TC. In this case, for example, there is a possibility that the sign of abnormality in the motor load 3 cannot be sufficiently detected.

Therefore, in the trigger condition changing unit 605 of FIG. 12, based on the operation map WM from the operation map generation unit 703, the operation range of the motor load 3 is second in addition to the first phase range in the rotation phase of the motor 2. Determine if it also exists in the phase range. Then, when the trigger condition TC is in the first phase range, the trigger condition changing unit 605 adds a second phase range to the trigger condition TC, and selects the trigger condition TC as data in the servo amplifier 1. Set in unit 103. This makes it possible to detect the signs of abnormality in the motor load 3 without missing them.

Two check boxes are provided on the pop-up screen 66 shown in FIG. When a check input is made in the "Automate sampling interval" check box, the monitoring condition determination unit 602 of FIG. 12 determines the monitoring condition MC by the method described above. On the other hand, when a check input is made in the check box of "Data with strong correlation also samples other positions", the trigger condition changing unit 605 of FIG. 12 changes the trigger condition TC by the method as described above.

<< Main effect of Embodiment 2 >>
As described above, by using the motor control system of the second embodiment, in addition to the various effects described in the first embodiment, the user can input the physical model of the motor load 3 to change the monitoring cycle and the monitoring period. The optimization can be achieved, and it becomes possible to perform two-hand efficient tracing of the memory (RAM) 30 having a limited capacity. Further, when inputting this physical model, the user does not need to be familiar with mechanical engineering and control engineering, but only needs to refer to the physical property data of the parts catalog and the device connection diagram. Further, by generating the operation map based on the physical model, the trigger condition TC can be appropriately changed so that the omission does not occur.

Although the invention made by the present inventor has been specifically described above based on the embodiment, the present invention is not limited to the embodiment and can be variously modified without departing from the gist thereof. For example, the above-described embodiments have been described in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the described configurations. Further, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. .. Further, it is possible to add / delete / replace other configurations with respect to a part of the configurations of each embodiment.

1 Servo amplifier (motor control device)
2 Motor 3 Motor load 6 Information processing device 30 Memory (RAM)
37 Monitoring unit 63 Model editing unit 65 Area 67 Waveform display unit 103 Data selection unit 104,504,604,704 Model data generation unit 601 Physical model input unit (load information input unit)
602,702 Monitoring condition determination unit 603,703 Operation map generation unit 605 Trigger condition change unit 606 Display control unit 607 Trigger condition setting unit 609 Display unit D Monitoring data DS Monitoring data set MC Monitoring condition MD Model data SP Characteristic diagram TC Trigger condition TD trace data WM operation map

Claims (6)

A motor control system including a motor and a motor control device for controlling the motor.
A monitoring unit that monitors N monitoring parameters (N is an integer of 2 or more) obtained from the motor or the motor control device, and acquires a monitoring data set consisting of monitoring data of the N monitoring parameters for each monitoring cycle. When,
With memory
A data selection unit that selects the monitoring data set that satisfies the trigger condition from the monitoring data sets acquired by the monitoring unit and stores the selected monitoring data set as trace data in the memory.
Display and
A graph in which M monitoring parameters (M is an integer of 2 or more and N or less) are determined from the N monitoring parameters according to a user's command, and have M axes corresponding to the M monitoring parameters. A display control unit that creates a characteristic diagram that displays the trace data on the display and displays the characteristic diagram on the display unit.
With the characteristic diagram displayed on the display unit, a trigger condition setting unit that allows the user to select the range of the M axes in the characteristic diagram as the next trigger condition.
Have,
Motor control system. In the motor control system according to claim 1,
Further, it has an information processing device operated by the user and having a communication path with the motor control device.
The motor control device includes the monitoring unit, the memory, and the data selection unit.
The information processing device includes the display unit, the display control unit, and the trigger condition setting unit.
Motor control system. In the motor control system according to claim 2,
The trigger condition setting unit determines the trigger condition by causing the user to select a region in the characteristic diagram using a mouse.
Motor control system. In the motor control system according to claim 1,
Further, it has a model data generation unit that generates model data that becomes typical data of the monitoring data.
The display control unit causes the display unit to display the characteristic diagram displaying the model data in addition to the trace data.
Motor control system. In the motor control system according to claim 1, further
A load information input unit that causes the user to input load information of a motor load driven by the motor.
Based on the load information, the monitoring cycle in the monitoring unit, or the monitoring condition determination unit that determines the monitoring period when continuous monitoring is performed in the monitoring cycle,
Have,
Motor control system. In the motor control system according to claim 1, further
A load information input unit that causes the user to input load information of a motor load driven by the motor.
An operation map generation unit that generates an operation map showing the relationship between the rotation phase of the motor and the operation range of the motor load based on the load information.
When the operating range of the motor load exists in a first phase range in the rotation phase of the motor and a second phase range different from the first phase range based on the operation map. When the trigger condition is the first phase range, a trigger condition changing unit that adds the second phase range to the trigger condition, and a trigger condition changing unit.
Have,
Motor control system.

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