JP6087193B2 - Electric motor control device and parameter setting method thereof - Google Patents

Description

  The present invention relates to an electric motor control device and a parameter setting method thereof.

  As background art of this technical field, there is JP-A-2007-135344 (Patent Document 1). In this publication, “known as a prior art for automatically tuning feedback control parameters and feedforward control parameters. In this prior art, a basic operation is not required within the motor control device without requiring a host command device. A pattern is generated, and feedback control parameters and feedforward control parameters are adjusted repeatedly until automatic adjustment is performed until the appropriate control parameters are obtained within the range of vibration amplitude and overshoot of the position detection value set by the user. Method and apparatus. "

JP 2007-135344 A

  Patent Document 1 specifies that the adjustment method and apparatus repeats automatic adjustment until an appropriate control parameter is obtained within a tolerance range in which the vibration amplitude amount and overshoot amount of the position detection value are set by the user. Yes. On the other hand, even when automatic adjustment is repeated and an appropriate control parameter is obtained, no attention is paid to control parameters other than the appropriate control parameter obtained by automatic adjustment. When adjusting the control parameters, there may be cases where there are more appropriate control parameters for the operator besides the appropriate control parameters obtained by the automatic adjustment.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide an electric motor control device capable of selecting and setting a more appropriate control parameter by an operator, and a parameter setting method thereof.

  In order to achieve the above object, the present invention employs the configurations and methods described in the claims. If the example is given, the motor control device of the present invention outputs a position command pattern, operates the motor a plurality of times according to the position command pattern, acquires a plurality of driving characteristic data of the motor, and is acquired. An electric motor control device that outputs information of the plurality of driving characteristic data to a display device that displays a plurality of driving characteristic data, wherein one driving selected from the plurality of driving characteristic data displayed on the display device The motor control device is configured such that a parameter corresponding to the characteristic data can be set as a control parameter of the motor, and the motor is driven using the set control parameter.

  Further, the parameter setting method of the present invention outputs a position command pattern, operates the motor a plurality of times according to the position command pattern, acquires a plurality of driving characteristic data of the motor, and acquires the plurality of driving characteristic data acquired The information of the plurality of driving characteristic data is output to a display device that displays the parameter, and a parameter corresponding to one driving characteristic data selected from the plurality of driving characteristic data displayed on the display device is a parameter of the electric motor. It is set as a control parameter, and the electric motor is driven using the set control parameter.

  ADVANTAGE OF THE INVENTION According to this invention, the motor control apparatus which can select and set a more appropriate control parameter by an operator, and its parameter setting method can be provided.

The control block diagram of the electric motor control apparatus which attached the adjustment result management apparatus by the Example of this invention. The control block diagram which shows the position command production | generation block and control parameter adjustment part which produce | generate the position command pattern by a present Example. Explanatory drawing of the position command waveform at the time of an electric motor operation | movement, a position detection waveform, a position deviation waveform, and an electric motor stop signal waveform. An explanatory flowchart of an electric motor automatic adjustment algorithm. The data table which preserve | saves the data at the time of the electric motor several time operation | movement by a present Example. The Example of an adjustment result management apparatus screen. The information amount selection process flowchart. The data flow figure of information amount selection processing. The filtering process flowchart. The filtering preservation | save data table and filtering process explanatory drawing. Sort processing flowchart. The flowchart of the 2nd information amount selection process. The flowchart of a sort preservation | save movement process. Explanatory drawing of a 2nd information amount selection process. Explanatory drawing of the process which preserve | saves a filtering preservation | save data table to a sorting preservation | save data table when sort preservation | save preservation | save data 1st information amount data and filtering preservation | save 1st information quantity data correspond. Explanatory drawing of the process at the time of displaying a sort preservation | save data table on an adjustment result management screen. Explanatory drawing of a process until it writes a control parameter display process at the time of selecting the graph displayed on the adjustment result management screen, and a display control parameter in an electric motor control apparatus. BRIEF DESCRIPTION OF THE DRAWINGS FIG.

  The motor control device and its parameter setting method according to the embodiment of the present invention acquire the amount of information related to motor operation every time the motor is repeatedly operated. The obtained information amount is ranked so as to be arranged in an order in which it becomes more effective in the motor operation with respect to an arbitrary information amount. As a result, the control parameters are also arranged at the same time according to the ranked information amount, and other than the proper control parameters obtained by automatic adjustment, that is, the control parameters after the second place including the first place can be easily confirmed and set. Is possible.

  In other words, not only the first proper control parameter set by the automatic adjustment method but also the amount of information that becomes the second and subsequent control parameters is provided to the worker, so that the control parameter becomes more appropriate for the worker. Possible control parameters will be provided.

  Specifically, it is possible to provide information arranged in an arbitrary amount of information with respect to operation waveform data, operation characteristic data, and control parameters other than appropriate control parameters obtained by automatic adjustment.

  In addition, using the appropriate control parameters newly set by the operator, a basic operation pattern set when the motor is repeatedly operated is generated inside the motor control device, and the user sets a new one by operating the motor. It is possible to easily check the motor operation with the appropriate control parameters.

  Hereinafter, more detailed examples will be described with reference to the drawings. Specifically, when the control parameter of the motor control device is automatically adjusted by the automatic adjustment function of the control parameter, the amount of information that is characteristic during the operation of the motor is acquired, and the operator places importance on the adjustment result management device. The Example which ranks with respect to information amount is shown.

  Here, the amount of information that is a feature of the motor operation shown in the present embodiment is operation waveform data, operation characteristic data, and control parameters. The operation waveform data is position data, speed data, and current data related to the motor operation.

  The driving characteristic data is data relating to the amount of information that is characteristic of motor operation. In this embodiment, the operation characteristic data includes positioning settling time, which will be described later, an overshoot amount, which will be described later, and a vibration amount when the motor is stopped, which will be described later, as an example of the operation characteristic data. For example, the amount of vibration while the motor is stopped after the end of driving of the motor is also the operation characteristic data. Of course, the present invention is not limited to this, and data relating to the motor operation is used as the operation characteristic data.

  First, an example in which control parameters are automatically adjusted using an electric motor control device will be described. FIG. 1 is a control block diagram showing an automatic adjustment method of an electric motor control device according to an embodiment of the present invention.

In FIG. 1, reference numeral 1 denotes an electric motor, 2 denotes a driving target load driven by the electric motor 1, 3 denotes a connecting shaft that connects the electric motor 1 and the driving target load 2, and 4 denotes a power converter that drives the electric motor 1. 5 is attached to motor 1, a position detector for outputting a position detection value theta _M of the electric motor 1, 6 in accordance with the positional deviation theta _e between the position command value theta _M ^* and the detected position value theta _M of the electric motor 1 speed It is a position controller that outputs a command value ω _M ^* .
Reference numeral 7 denotes a speed calculator that inputs the position detection value θ _M output from the position detector 5 and outputs the speed detection value ω _M of the electric motor 1. A speed controller 8 outputs a torque current command value I _q ^* according to a speed deviation ω _e between the speed command value ω _M ^* and the detected speed value ω _M of the electric motor 1.

9 is a current detector for detecting a torque current detection value I _q to be supplied to the electric motor 1, 10 of the power converter 4 in accordance with the torque current detection value I _q to be supplied to the torque current command value I _q and the motor 1 It is a current controller that adjusts the output current. A data measurement unit 11 measures the position detection value θ _M , the speed detection value ω _M , and the torque current detection value I _q .

A parameter tuning unit 12 generates a position command θ _M ^* and automatically adjusts control parameters related to the position controller 6 and the speed controller 8. This parameter tuning unit uses the position deviation θ _e between the position command value θ _M ^* and the detected position value θ _M of the electric motor 1 as an input value, and outputs control parameters to be set in the position controller 6 and the speed controller 8. .

  Reference numeral 13 denotes an adjustment result management device that stores operation waveform data, operation characteristic data, and control parameters during motor operation.

  With these configurations, it is possible to drive the load to be driven to a desired position under various conditions, and to grasp and save the driving state for each operation.

FIG. 2 is a block diagram of the parameter tuning unit 12 shown in FIG. Reference numeral 121 denotes a position command generation unit that sequentially generates a plurality of position command patterns registered in advance by the user as position commands θ _M ^* . Reference numeral 122 denotes a control parameter adjustment unit that automatically adjusts a control parameter to an optimal control parameter by using the position deviation θ _e as an input.

  In the automatic adjustment of the motor in the present embodiment, the position command generator 121 actually operates the motor for all of the plurality of position command patterns 1 to N, and the overshoot amount p_ovsh described later for all the position command patterns is An object is to automatically adjust control parameters so as to satisfy a range not exceeding the allowable value and to shorten a positioning settling time time_inp described later. The automatic adjustment flowchart will be described later with reference to FIG.

  FIG. 3 shows a position detection waveform during motor operation when the position command pattern 1 output from the position command generation unit 121 is a position command waveform, a position deviation waveform that is a deviation between the position command waveform and the position detection waveform, and a motor stop signal. , And operational characteristic data that is characteristic of motor operation.

  A waveform 200 is a position command waveform and is a representative example of the position command patterns 1 to N generated by the position command value posref output from the position command generation unit 121 of FIG. For example, it is assumed that the position command waveform of the position command pattern 1 is the waveform 200.

  A waveform 201 is a position detection value posfb output by the position detector 5 as actual motor position data when the motor is operated with the position command waveform shown in the waveform 200.

  A waveform 202 is a position deviation value posref−posfb which is a deviation value between the position command value posref and the position detection value posfb.

  A waveform 203 is an electric motor stop signal PINP that determines whether or not the position deviation absolute value | posref−posfb | that is the absolute value of the position deviation value posref−posfb is within the positioning width p_inp. When the position deviation absolute value | posref−posfb | is larger than the positioning width p_inp, the position deviation absolute value is outside the positioning width range, and therefore the motor stop signal PINP = OFF is output. Further, when the position deviation absolute value | posref−posfb | is equal to or less than the positioning width p_inp, the position deviation absolute value is within the range of the positioning width, so that the motor stop signal PINP = ON is output.

  The positioning settling time time_inp is the time from when the position command value posref reaches the target position for stopping the motor until the motor stop signal PINP = ON is stably output. The positioning settling time time_inp is an index for the time until the motor stops. The shorter the positioning settling time, the shorter the time from when the motor starts operating until it stops. Generally, in motor operation, a shorter positioning settling time is better.

  The overshoot amount p_ovsh is a value that represents how much the motor overshoots from the target point for stopping the motor. In general, when the overshoot amount p_ovsh outputs a value larger than 0, it indicates that the motor has exceeded the target stop position, and it is desirable that the overshoot amount p_ovsh be as small as possible.

  The motor stop vibration amount p_udovsh is a vibration detection amount when the motor is stopped, and is calculated from the sum of the overshoot amount and the undershoot amount when the motor is operated to when the motor is stopped. In general, the motor stop vibration amount p_udovsh is desirably a small value.

  In the automatic adjustment of the control parameter in the motor control apparatus shown in the present embodiment, the overshoot amount is automatically adjusted so as to be within the range of the allowable value set in advance by the user and the positioning settling time is shortened. It is not limited.

  For example, each time the motor is repeatedly operated, the control parameters may be adjusted by a combination of a plurality of control parameters set in advance in the motor control device, and automatic adjustment may be performed so as to shorten the positioning settling time.

  FIG. 4 is a flowchart showing an automatic motor adjustment procedure using the motor control device automatic adjustment method shown in FIGS. 1 and 2. The position command waveform used in this embodiment is output from the position command generation unit 121 as the waveform 200 shown in FIG. By outputting the waveform 200 from the position command generator 121, the motor is actually operated, and automatic adjustment of control parameters is performed.

  The same applies to the case where the position command patterns 1 to N are output from the position command generation unit 121. In this case, after the process 403 is performed on the position command pattern 1, the process 403 is continuously performed on the position command pattern 2. Thereafter, the process 403 may be continuously performed up to the position command pattern N.

  The automatic adjustment function and the apparatus adjustment procedure start with the automatic adjustment method of the control parameter in the process 400 in order to execute the automatic adjustment method of the electric motor, and move to the process 401.

  In the process 401, the position command pattern 1 is set in order to output the position command pattern for operating the electric motor from the position command generating unit 121, and the process moves to the process 402. In process 402, a control parameter adjustment count ParamSetCount indicating the number of automatic parameter adjustments is initialized, and the process proceeds to process 403.

  In the process 403, the motor is actually operated according to the position command pattern output from the position command generator 121, and the position command waveform, the position detection waveform, the position deviation waveform, the motor stop signal PINP during the motor operation and during the motor stop. Is measured as operating waveform data. Further, the positioning settling time time_inp, the overshoot amount Povsh, the motor stop vibration amount p_vib, and the motor vibration amplitude amount p_udovsh are measured as operation characteristic data. The operation waveform data and the operation characteristic data are measured, and the process proceeds to processing 404.

  In process 404, in order to actually count the number of times of automatic adjustment of the control parameter, the control parameter adjustment number ParamSetCount is counted up, and the process proceeds to process 405.

  In process 405, each information amount when the electric motor is operated in process 403 is stored in the data table Table [] [].

  That is, the information amount 1 obtained by the motor operation is stored in a data table Table [1] [ParamSetCount] described later, and the information amount 2 is stored in a data table Table [2] [ParamSetCount] described later. Thereafter, the information amount 3, information amount 4,... Are executed, and in the case of the information amount M, the information is stored in the data table Table [M] [ParamSetCount].

  In processing 405, the information amount from information amount 1 to information amount M is stored in the data table Table [m] [ParamSetCount], and then the processing proceeds to processing 406. In process 406, the control parameter for operating the motor next in process 403 is set by the automatic adjustment function, and the process proceeds to process 407.

  In process 407, it is determined whether or not to end the automatic adjustment function of the electric motor. If it is not determined in step 407 that automatic adjustment has ended, the process moves to step 403 to continue automatic adjustment of control parameters.

  If it is determined in process 407 that automatic adjustment has ended, the process moves to process 408. In process 408, the control parameter adjusted by the automatic adjustment function is set in the motor control device from among the control parameters adjusted by the automatic adjustment method. After setting appropriate control parameters, the process proceeds to processing 409, and the automatic control parameter adjustment of the motor is terminated.

  Here, the automatic adjustment end determination method of the electric motor in the process 407 may be ended because the positioning settling time time_inp is within a specified value. For example, when the time required to reach a desired position is within an allowable value t_in seconds set in advance by the operator, it may be recognized as an appropriate control parameter and automatic adjustment of the control parameter may be terminated.

  However, the automatic adjustment procedure of the motor is not limited to the procedure shown in the flowchart of FIG. For example, the operation may be terminated because the number of times the motor has been operated exceeds a predetermined value, and the termination condition of the automatic adjustment method is not limited.

  Information accumulated in the above parameter setting will be described.

  FIG. 5 (a) is a data table Table [m] [that stores the information amount at the time of automatic control parameter adjustment when the number of information amounts characteristic of motor operation is m and the number of automatic control parameter adjustments is n. n].

  Reference numeral 500 denotes a data table label number LblNo, which represents a data table column number. According to this embodiment, the data table label number LblNo is the number of control parameter adjustments. In the case of the first control parameter adjustment, the data table label number LblNo = 1, and in the case of the control parameter adjustment n, the data table label number LblNo = n.

  Reference numeral 501 denotes an information amount 1 data table column Table [1] [m]. According to the present embodiment, the data of information amount 1 obtained when the motor operation for the first control parameter adjustment is stored in Table [1] [1], and the information amount obtained for the motor operation for the second control parameter adjustment. The data of 1 is stored in Table [1] [2].

  Similarly to 501, 502 stores information 2 data in order in the data table Table [2] [1], the data table Table [2] [2].

  Reference numeral 503 denotes an information amount M data table column Table [M] [n]. According to the present embodiment, data of the information amount M obtained when the motor operation for the first control parameter adjustment is stored in Table [M] [1], and the information amount obtained for the motor operation for the second control parameter adjustment. M data is stored in Table [M] [2].

  In this embodiment, information amount 1 is positioning settling time time_inp, information amount 2 is overshoot amount p_ovsh, information amount 3 is motor stop vibration amount p_udovsh, information amount 4 is operation waveform data, and information amount 5 is a control parameter. .

  That is, in this embodiment, the positioning settling time time_inp is the positioning settling time storage data Table [1] [], the overshoot amount p_ovsh is the overshoot amount storage data Table [2] [], and the motor stop vibration amount p_udovsh is the motor stop. Vibration amount storage data Table [3] [], operation waveform data is operation data storage data Table [4] [], and control parameters are control parameter storage data Table [5] [].

  Next, the data table Table [] [] shown in FIG. 5A will be described with respect to processing in the adjustment result management apparatus shown in FIG.

  A screen 550 is an example of a screen for displaying the data table Table [] [] on the adjustment result management apparatus.

  A graph 551 is a graph in which the amount of information stored in the data table Table [] [] is displayed on the adjustment result management apparatus. The horizontal axis represents the number of control parameter adjustments, and the vertical axis is a graph displayed with an information amount of 1. In the present embodiment, the horizontal axis is arranged in the order of the control parameter adjustment count from the left side, and the positioning settling time time_inp corresponding to each vertical axis is plotted in the graph 551. That is, when the control parameter adjustment count is 1, the values of the positioning settling time storage data Table [1] [1] are plotted. When the control parameter adjustment count is 2, the values of the positioning settling time storage data Table [1] [2] are plotted in the graph 551.

  Further, the graph 551 displays the horizontal axis according to the information amount priority by the information amount selection process described later, and the vertical axis according to the information amount emphasized by the worker. The amount of information emphasized by the operator is selected with a button 552.

  A button 552 is a button for selecting the amount of information that the worker attaches importance to. Since the information amount selection process described later is performed on the information amount specified from one or more types of information amounts acquired at the time of control parameter adjustment, it is necessary to select the information amount that the worker attaches importance to as the specific information amount. is there. In the screen example shown in FIG. 5, the information amount emphasized by the operator is the positioning settling time time_inp (information amount of Table [1]).

  A setting 553 is an information amount determination range setting DataMin-Datamax, which sets an information amount determination range that is important to the operator. For example, when the minimum value of the ranking range of the positioning settling time time_inp is 5, an information determination amount minimum value DataMin = 5 described later is set. Further, when the maximum value of the ranking range is set to 10, an information determination amount maximum value Datamax = 10 described later is set, and in combination with the button 552, ranking is performed in the range of positioning settling time time_inp from 5 to 10. .

  The button 554 is an information amount selection process start button. When the information amount selection process start button is selected by the operator, the button 554 starts an information amount selection process, which will be described later, and starts ranking the information amount emphasized by the worker.

  A screen 555 is a screen that displays a result of performing an information amount selection process described later by the button 554. In the present embodiment, an information amount selection process (to be described later) is performed and ranked for the positioning settling time. As a result of ranking, the data that is most effective for the worker is displayed on the screen 555 as the first rank data. That is, SortResultDataNo_1 is the data with the shortest positioning settling time, and thereafter, SortResultDataNo_2, SortResultDataNo_3,...

  A button 556 is an electric motor drive button that generates position command patterns 1 to N that are set in advance during automatic adjustment of control parameters in the position command generation processing 121 and drives the electric motor.

  A screen 557 is a control parameter display screen that displays control parameters corresponding to the number of operations during pointing of the data plotted in the graph 551.

  The button 558 is a button for writing the control parameter displayed on the screen 557 as the control parameter of the electric motor.

  According to the present embodiment, when the button 558 is selected by the operator, the control parameters displayed on the screen 557 are acquired from the control parameter storage data Table [5] [5], and the control parameters are written in the motor control device. . When the button 558 is selected by the operator after the information amount selection process is performed, the control parameter is acquired from the sort storage control parameter data SortData [5] [5] described later, and the control parameter is written into the motor control device.

  By providing the adjustment result management apparatus shown in FIG. 5 (b), the information amount when the driving target load is driven to a desired position under various conditions is stored and ranked. As a result, it is possible to provide the ranked amount of information more effective for the electric motor to the worker. In the present embodiment, the position command pattern 1 is described, but the same applies to the position command patterns 2 to N.

  Next, an information amount selection process that is started when the button 554 is selected by the worker is performed, and the processing until the information amount ranked by the information amount selection process is provided to the worker is shown in FIGS. Will be described.

  The information amount selection process provides the information amount ranked with respect to the information amount emphasized by the worker, so that the worker stored in the data table Table [] [] Select whether it is within the judgment value range of the information amount judgment range setting DataMin-Datamax for the information amount to be emphasized. In the case of the present embodiment, the information amount emphasized by the worker is the positioning settling time time_inp. After that, since ranking is performed on the data table selected by the filtering process, it is possible to rank the information amount emphasized by the worker by performing the sorting process described later.

  First, the data flow until the data table Table [] [] is filtered and ranked by the information amount selection process will be described with reference to the flowchart of FIG. 6A and the data transition explanatory diagram of FIG. .

  As shown in FIG. 6A, the information amount selection process starts the information amount selection process in process 600.

  First, the process moves to the process 601 to perform the filtering process on the data table Table [] []. In the process 601, it is determined whether the positioning settling time time_inp is the information amount determination range setting DataMin-Datamax. ] Save data in []. If the positioning settling time time_inp is outside the range of the information amount determination range setting DataMin-Datamax, data is not stored in the filtering storage data table FiltData [] [].

  After performing the filtering process in the process 601, the filtering storage data table FiltData [] [] is rearranged in the order that is generally valid in the motor operation. carry out.

  In the sort process, the filtering storage data table Filt [] [] is rearranged. In the case of the positioning settling time time_inp, it is assumed that the smaller value is the effective value in the motor operation. Therefore, the FiltData [] [] is rearranged in the order from the smaller positioning settling time time_inp.

  After the sort process is completed in process 603, the process moves to process 604 to end the information amount selection process.

  Next, an example of data movement until ranking of the information amount selection process is performed will be described with reference to FIG.

  The structure array 650 is a data table Table [] [] stored when the motor is operated a plurality of times.

  The structure array 651 is a filtering storage data table FiltData [] [] that stores data whose positioning settling time time_inp stored in data 653 to data 657 described later is within the information amount determination range setting DataMin-Datamax.

  The structure array 652 is a sorted storage data table SortData [] [] obtained by ranking the positioning settling times time_inp stored in the filtering storage data table FiltData [] [] and rearranging them according to the ranking.

  Data 653 to data 657 are information amounts stored in the data table [] []. Data 660 to data 662 are information amounts stored in the filtering storage data table FiltData [] [], and data 666 to data 668 are information amounts stored in the sort storage data table SortData [] []. is there.

  Processing 658 to processing 660 are stored in data 653, data 655, and data 656 because the positioning settling time time_inp stored in the data table Table [] [] is within the information amount determination range setting DataMin-Datamax range. Each information amount is stored in the filtering storage data table FiltData [] [].

  On the other hand, the data 654 and the data 657 are not stored in the filtering storage data table FiltData [] [] because they are outside the information amount determination range setting DataMin-Datamax range.

  Processes 664 to 666 perform the ranking of the positioning settling time time_inp stored in the filtering storage data table FiltData [] [], and the data flow when storing in the corresponding sorted storage data table SortData [] [] It is.

  Here, when the data 661, data 662, and data 663 are compared, the positioning settling time time_inp of the data 662 is the smallest, the positioning settling time time_inp of the data 661 is next short, and the positioning settling time time_inp of the data 663 is the largest. Suppose that

  In this case, the data 662 is stored in the data 667 as the first data, the data 661 is stored in the data 668 as the second data, and the data 663 is stored in the data 669 as the third data.

  With the data flow described above, the data 667, data 668, and data 669 stored in the structure 652 can be arranged in ascending order of the positioning settling time time_inp.

  Next, filtering processing corresponding to processing 658 to processing 660 of FIGS. 6A and 6B will be described in detail with reference to the flowchart of FIG. 7 and the data flow explanatory diagram of FIG.

  First, a flowchart of the filtering process will be described with reference to FIG.

  In FIG. 7, the filtering process starts in process 700, and the process moves to the initialization process 701. In the initialization process 701, filtering was performed on the filtering data storage count DataStore indicating the number of times stored in the filtering storage data Filtdata [] [] and the positioning selection time time_inp stored in the data table Table [] []. The information determination number DataNo indicating the number of times is initialized to 1, and the process proceeds to processing 702. Note that the filtering data storage count DataStore is the data table row number that is being filtered, and the information determination count DataNo is the number of times the filtering determination has been performed.

  In process 702, it is determined whether or not a filtering process is to be performed on the data table Table [] []. If the information determination number DataNo is larger than the control parameter adjustment number ParamSetCount that is the maximum value of the data table row, it is determined that all filtering processes for the positioning settling time time_inp have been completed, and the process proceeds to the process 708. After moving to process 708, the process moves to process 602 and the filtering process is terminated.

  If the information determination count DataNo is equal to or less than the control parameter adjustment count ParamSetCount, which is the maximum value of the data table sequence, the filtering process has not been completed, so the process moves to process 703 and the filtering process is performed.

  In processing 703, it is determined whether the positioning settling time storage data Table [1] [DataNo] is equal to or less than the maximum information amount determination value DataMax. When the positioning settling time storage data Table [1] [DataNo] is larger than the information amount judgment value maximum value DataMax, the data table Table [1] [] is the filtering data table FiltData because it is outside the judgment value range desired by the operator. It moves to the processing 704 without saving it in [] [].

  In process 704, the information determination count DataNo is counted up to move to process 702 in order to determine the positioning settling time storage data Table [1] [DataNo + 1] stored in the next data table row.

  Further, when the positioning settling time storage data Table [1] [DataNo] is equal to or smaller than the information amount determination value maximum value DataMax in the process 703, there is a possibility that the determination value range desired by the operator is within the range. In this case, in order to determine whether the positioning settling time storage data Table [1] [DataNo] is equal to or larger than the information amount determination value minimum value DataMin, the process proceeds to processing 705.

  In process 705, it is determined whether the positioning settling time storage data Table [1] [DataNo] is equal to or greater than the minimum information amount determination value DataMin. If the positioning settling time storage data Table [1] [DataNo] is smaller than the information amount determination value minimum value DataMin, it is out of the determination value range desired by the operator, so the processing 704 is performed without saving as filtering data FiltData [] []. Move to.

  If the positioning settling time storage data Table [1] [DataNo] is equal to or greater than the information amount determination value minimum value DataMin in the process 705, the positioning settling time storage data Table [1] during the filtering process is executed together with the process 703. ] [DataNo] is determined to be data within a range desired by the operator, and the process proceeds to process 706.

  In processing 706, the positioning settling time storage data Table [1] [DataNo] determined by the processing 703 and processing 705 as the data desired by the operator is stored in the filtering storage positioning settling time data FiltData [1] [DataStore]. Save to.

  The overshoot amount, motor stop vibration amount, operation waveform data, and control parameters are also stored in the corresponding filtering storage data table FiltData [] [n], and the process moves to step 707.

  The process 707 counts up the filtering data storage count DataStore in order to count the number of times the data table Table [] [] is stored in the filtering data table FiltData [] [p]. After the count of the filtering data storage count DataStore ends, the process moves to processing 704.

  When all the filtering processes are performed for the positioning settling time, the process moves from process 702 to process 708. After moving to process 708, the filtering process is terminated and the process moves to process 602.

  Next, the data flow of the filtering process will be described with reference to FIG.

  The process 800 is performed when the positioning settling time storage data Table [1] [1] is equal to or smaller than the information determination amount maximum value DataMax and equal to or larger than the information determination amount minimum value DataMin by the processes 703 and 705 of FIG. It is processing of.

  In this case, since the positioning settling time storage data Table [1] [1] is within the judgment value range desired by the operator, the amount of information stored in the data table Table [] [1] is filtered and stored. Save each in the table FiltData [] [1].

  Processing 801 is performed when the positioning settling time storage data Table [1] [2] is equal to or greater than the information determination amount maximum value DataMax or equal to or less than the information determination amount minimum value DataMin by the processing 703 and processing 705 of FIG. It is processing of.

  In this case, since the positioning settling time storage data Table [1] [2] is outside the judgment value range desired by the operator, the amount of information stored in each of the data tables Table [] [2] is the filtering storage data table FiltData Do not save in [] [2].

  Processing 800 or 801 is performed, and filtering processing is performed on positioning settling time data Table [1] [n] stored from the data table label number LblNo = 1 column to the data table label number LblNo = n column To implement.

  7 and FIG. 8, the filtering process creates a filtering storage data table FiltData [] [] in which the amount of information whose positioning settling time time_inp is within the operator's desired determination value range is stored. That is, the positioning settling time time_inp stored in the filtering storage data table FiltData [] [] is all information amount determination range setting DataMin-Datamax.

  In FIG. 6A, after the filtering process is completed, a sort process is performed in process 603. In the sorting process in the present embodiment, the values of the filtering storage positioning settling time data FiltData [1] [] stored in the filtering storage data table FiltData [] [] are rearranged in ascending order.

  Next, the sorting process corresponding to the processes 664 to 666 of FIGS. 6A and 6B will be described in detail with reference to the flowcharts of FIGS. 9 to 11 and the data flow explanatory diagrams of FIGS. .

  FIG. 9 to FIG. 11 are flowcharts of sort processing for rearranging the filtering storage data table FiltData [] [] so that the filtering storage positioning settling time data FiltData [1] [] are arranged in ascending order.

  In the sort process, the filtering storage data table Filt [] [] is stored in the sorting storage data table SortData [] [] because the filtering storage positioning settling time FilmData [1] [p] and the sorting storage positioning settling time SortData [1 ] [q] match, or the filtering storage positioning settling time FiltData [1] [] is smaller than the sorting storage positioning settling time SortData [1] []. 10 and 11 are flowcharts in the case of saving under each condition.

  FIG. 10 shows that when the filtering storage positioning settling time FiltData [1] [p] and the sorting storage positioning settling time SortData [1] [] match, the filtering storage data table FiltData [] [] and the sorting storage data table SortData [ ] Is a flowchart of saving in [].

  Also, FIG. 11 shows that when the filtering storage positioning settling time FiltData [1] [] is smaller than the sorting storage positioning settling time SortData [1] [], the filtering storage data table FiltData [] [] is changed to the sort storage data table SortData [ ] Is a flowchart of saving in [].

  First, a description will be given using the flowchart shown in FIG.

  The sort process starts at process 900 and moves to process 901. In the process 901, the sort determination count DataSortNo is set to 1 in the sort determination count DataSortNo, which is the data table row number being sorted, and the process moves to the process 902. The sort determination count DataSortNo is the data table number being sorted.

  In the process 902, every time the filtering saved data table FiltData [] [] is saved in the sorted saved data table SortData [] [], the column number of the sorted saved data table SortData [] [] needs to be initialized. The sort column number SortNo, which is the column number of the sort storage data table SortData [] [], is set to 1, and the processing moves to step 903.

  In process 903, it is determined whether or not the sorting process is performed. The number of times of sort processing execution determination is the filtering storage data table Filtdata [] [if the sort determination number DataSortNo indicating the number of times the sort processing has been performed is greater than the filtering data storage number DataStore that is the maximum value of the sort processing execution determination number. It is determined that the sorting process has been completed for all positioning settling times time_inp, and the process proceeds to process 912. In process 912, the sort process is terminated, and the process moves to process 603.

  If the sort determination count DataSortNo is equal to or less than the filtering data storage count DataStore, the sorting processing has not been completed for all positioning settling times of the filtering storage data table FiltData [] []. To do.

  In process 904, it is determined whether the filtering saved positioning settling time data FiltData [1] [DataSortNo] is less than or equal to the sort saved positioning settling time data SortData [1] [SortNo]. If the filtering saved positioning settling time data FiltData [1] [DataSortNo] is larger than the sort saved positioning settling time data SortData [1] [SortNo], the filtering saved positioning settling time data FiltData [1] [DataSortNo] is the next sort column number Processing 904 is performed on sort storage positioning settling time data SortData [1] [SortNo + 1] stored in SortNo. In this case, the process moves to the process 905 to sort the sort column number SortNo.

  In process 905, the sort column number SortNo is counted up. The count-stored positioning settling time data SortData [1] [SortNo + 1] that has been counted up is filtered and saved positioning settling time data FiltData [1] [DataSortNo] and sort-stored positioning settling time data SortData [1] [1] [ Sort No + 1] is compared.

  In the process 904, when the filtering saved positioning settling time data FiltData [1] [DataSortNo] is less than or equal to the sort saved positioning settling time data SortData [1] [SortNo], the filtering saved data table FiltData [] [] Can be stored in SortData [] []. In this case, the process moves to process 906.

  In process 906, it is determined whether the filtering saved positioning settling time data FiltData [1] [DataSortNo] and the sort saved positioning settling time data SortData [1] [SortNo] are the same value. Filtering saved positioning settling time data FiltData [1] [DataSortNo] and sort saved positioning settling time data SortData [1] [SortNo] are the same value, filtering saved data table FiltData [] [DataSortNo] and sort saved data table SortData [ ] [SortNo] makes it difficult to determine which is a more effective control parameter for motor operation.

  In this case, since the filtering storage data table FiltData [] [DataSortNo] stores operation characteristic data other than the positioning settling time, the operation characteristic data other than the positioning settling time is compared to determine whether it is more effective for the motor. Is possible. Therefore, in order to perform the information amount comparison process for the operation characteristic data other than the positioning settling time, the process moves to process 907. After moving to process 907, the process moves to process 1000 in FIG.

  FIG. 10 shows the characteristics of the motor other than the positioning settling time time_inp when the sorting stored positioning settling time data SortData [1] [SortNo] and the filtering stored positioning settling time data FiltData [1] [DataSortNo] have the same value as described above. It is a flowchart of the 2nd information amount selection process which implements a selection process with respect to information amount which becomes. In the present embodiment, the second information amount is an overshoot amount.

  The process 1000 starts the second information amount selection process and moves to the process 1001. In process 1001, in order to set the second information amount stored in each data table, a data selection line number SortChk = 2, which is a data selection line number, is set. After setting the data selection line number SortChk = 2 in processing 1001, the processing moves to processing 1002.

  In process 1002, it is determined whether the filtering storage overshoot amount data FiltData [2] [DataSortNo] is equal to or less than the sort storage overshoot amount data SortData [2] [SortNo].

  If the filtered storage overshoot amount data FiltData [2] [DataSortNo] is smaller than the sort storage overshoot amount data SortData [2] [SortNo], it is generally considered that a smaller overshoot amount is better in motor operation. The filtering storage data table FiltData [] [DataSortNo] can be determined to be a data table having control parameters effective in motor operation from the sorting storage data table SortData [] [SortNo]. In this case, the process moves to process 1003.

  In the process 1003, the filtering storage data table FiltData [] [DataSortNo] is determined to be more effective for the motor operation than the sorting storage data table SortData [] [SortNo] by the process 1002, so the filtering storage positioning settling time data FiltData [1 ] Save the value saved in [DataSortNo] to sort save positioning settling time data SortData [1] [SortNo].

  Similarly, filtering saved overshoot amount data FiltData [2] [DataSortNo], filtering saved motor vibration data FiltData [3] [DataSortNo], filtering saved operation waveform data FiltData [4] [DataSortNo], filtering saved control parameter data FiltData [5] [DataSortNo] is also stored in the corresponding sorted storage data table [] [].

  As a result, the filtering storage data table FiltData [] [DataSortNo] is overwritten and stored on the sorting storage data table SortData [SortNo]. After performing the overwrite storage process in process 1003, the process moves to process 1007, and the second information amount selection process is terminated. After the selection of the second information amount, the process moves to the process 908 in FIG.

  When the filtering storage overshoot amount data FiltData [2] [DataSortNo] is equal to or larger than the sort storage overshoot amount data SortData [2] [SortNo] in the processing 1002, the filtering storage data table FiltData [] [DataSortNo] is the sort storage data table. From SortData [] [DataSortNo], it is not necessarily a data table having control parameters effective in motor operation. In this case, the process moves to process 1004.

  In process 1004, it is determined whether the filtering storage overshoot amount data FiltData [2] [DataSortNo] and the sort storage overshoot amount data SortData [2] [SortNo] are the same value.

  When the filtering storage overshoot amount data FiltData [2] [DataSortNo] and the sort storage overshoot amount data SortData [2] [SortNo] are not the same value, the filtering storage overshoot amount data FiltData [ 2] It is determined that [DataSortNo] is larger than the sort storage overshoot amount data SortData [2] [SortNo]. In this case, the sorted storage data table SortData [2] [DataSortNo] is a data table having more effective control parameters in the motor operation than the filtering storage data table Filt [2] [SortNo].

  In this case, the processing moves to the processing 1007 without saving the filtering storage data table in the sort storage data table.

  In the processing 1004, when the filtering storage overshoot amount data FiltData [2] [DataSortNo] and the sort storage overshoot amount data SortData [2] [SortNo] are the same value, the positioning settling time time_inp and the overshoot amount p_ovsh are both the same value. Therefore, it is difficult to determine a data table having control parameters that are more effective for motor operation. In this case, the process moves to a process 1005 to perform the third information amount selection process.

  In process 1005, the data selection line number SortChk is counted up to move to process 1006 in order to execute the determination process on the driving characteristic data that has not been used as the determination process data.

  In process 1006, it is determined whether the data table column is the sort storage data table SortData [SortChk] [SortNo] of the SortChk column is operation characteristic data. It moves to the process 1002 and starts the selection process for the operation characteristic data after the second information amount.

  When SortData [SortChk] [SortNo] is not operation characteristic data that can be used for determination processing, the filtering storage data table FiltData [] [DataSortNo] and the sorting storage data table Sort [] [SortNo] being selected are: The motor operation is a data table having control parameters with almost no difference in characteristics. In this case, the process moves to process 1007 without updating the data table of the sort storage data table.

  After moving to the process 1007, it is determined that the second information amount determination process is finished, and the process moves to the process 908 in FIG.

  After moving to process 908, the process moves to process 911. In process 911, in order to count the number of times the sort determination has been performed, the number of sort determinations DataSortNo is counted up. In addition, in order to perform the determination processing on the filtering storage data table FiltData [] [] and the sorting storage data table SortData [] [] in the first column of the filtering data, the sort column number SortNo = 1 is set and the processing proceeds to processing 902. Then, the next sort determination process is performed.

  If the filtering saved positioning settling time data FiltData [1] [DataSortNo] and the sorted saved positioning settling time data SortData [1] [SortNo] do not match in the process 906, the filtering saved positioning settling time is combined with the process of the process 904. It is determined that the data FiltData [1] [DataSortNo] is smaller than the sort storage positioning settling time data SortData [1] [SortNo].

  In this case, the filtering storage data table FiltData [] [DataSortNo] needs to be stored in the sorting storage data table SortData [] [SortNo]. However, if the sorted storage data table SortData [] [SortNo] already contains data that has been moved from the filtering storage data table FiltData [] [], the sort storage data table SortData [] [SortNo] is used as a storable area. It is necessary to change the arrangement of data columns.

  Therefore, in order to change the data string arrangement, the process moves to a process 909 to execute a sort storage movement process. After moving to process 909, the process moves to process 1100 in FIG.

  FIG. 11 shows that when the filtering storage positioning settling time Filt [1] [] is smaller than the sorting storage positioning settling time SortData [1] [] as described above, the filtering storage data table FiltData [] [] is changed to the sort storage data table SortData. It is a flowchart of the sort preservation | save movement process preserve | saved at [] [].

  In the sort storage movement process, after changing the arrangement of the data currently stored in the sort storage data table SortData [] [] so that the data column of the sort storage data table SortData [] [SortNo] can be stored The filtering storage data table FiltData [] [DataSortNo] is stored in the sorting storage data table SortData [] [].

  The sort storage movement process will be described with reference to the flowchart of FIG.

  The sort storage movement process starts at process 1100 and moves to process 1101. In process 1101, in order to change the arrangement of the data columns of the sort storage data table SortData [] [Data_chk2] in the process 1103, the filtering data storage count DataStore that is the maximum value of the sort storage data table column is set to the sort column change number Data_chk2. Set and move to processing 1102.

  In processing 1102, the comparison processing of the sort column change number Data_chk2 and the sort column number SortNo is performed. When the sort column change number Data_chk2 is larger than the sort column number SortNo, it indicates that the data row arrangement change of the sort storage data table SortData [] [q] performed in the processing 1103 has not ended. In this case, the process moves to process 1103, and the sort storage movement process is performed.

  In processing 1103, the data string arrangement of the sorted storage data table SortData [] [] is changed. The data saved in the sort save positioning settling time data SortData [1] [Data_chk2-1] is saved in the sort save positioning settling time data SortData [1] [Data_chk2]. Similarly, sort storage overshoot amount data SortData [2] [Data_chk2-1], sort storage motor stop vibration amount data SortData [3] [Data_chk2-1], sort storage operation waveform data SortData [4] [Data_chk2-1 ], The data stored in the sort storage control parameter data SortData [5] [Data_chk2-1] are stored in the corresponding sorted storage data table SortData [] [Data_chk2].

  After executing the sort storage movement process of the sort storage data table SortData [] [] in processing 1103, the processing moves to processing 1104. In the process 1104, the sort column change number Data_chk2 is counted down to move to the process 1102 in order to perform the sort storage movement process for the next sort storage data table SortData [] [].

  If the sort column change number Data_chk2 is equal to or smaller than the sort column number SortNo in the processing 1102, the sort storage movement processing of the sort storage data table SortData [] [] is terminated, and the processing moves to the processing 1105.

  In processing 1105, the information amount of the filtering storage data table FiltData [] [DataSortNo] is stored in the sorted storage data table SortData [] [SortNo], which is the area that can be stored in processing 1103.

  In processing 1105, the filtering storage data table FiltData [] [DataSortNo] is stored in the sorting storage data table SortData [] [SortNo], and then the processing moves to processing 1106. After moving to the process 1106, the process moves to the process 910 on the assumption that the sort storage moving process is finished.

  After moving to process 910, the process moves to process 911 in the same manner as process 908. In process 911, in order to count the number of times the sort determination has been performed, the number of sort determinations DataSortNo is counted up. In addition, in order to execute the determination process for the sort storage data table SortData [] [], the sort column number SortNo is initialized, and the process moves to the process 902 to execute the next sort determination process.

  After the sort determination process is performed, the sort process is executed until the sort process ends in process 912.

  FIG. 12 shows the second information amount determination process when the filtering stored positioning settling time data Filtdata [1] [] and the sort stored positioning settling time SortData [1] [] shown in the flowchart of FIG. It is a data flow explaining.

  An example of the second information amount selection process shown in the present embodiment is, as shown in process 1200 of FIG. 12, filtering saved positioning settling time data FiltData [1] [2] and sorted saved positioning settling time SortData data [1] [ 1] will be compared.

  First, the comparison process 1201 is performed. In the process 1201, when the filtering saved positioning settling time data FiltData [1] [2] and the sort saved positioning settling time SortData data [1] [1] are the same value, the comparison process 1202 is performed in order to compare the second information amount. carry out.

  In the present embodiment, the filtering storage overshoot amount FilData [2] [2], which is the second information amount, is compared with the sort storage overshoot amount SortData [2] [1].

  When the filtering storage overshoot amount Filt [2] [2] is smaller than the sort storage overshoot amount SortData [2] [1] in processing 1202, as shown in processing 1204, the filtering storage data table FiltData [] [2 ] Is saved in the sort save overshoot amount SortData [] [1]. At this time, the data stored in the sort storage data table SortData [] [2] is discarded from the sort storage data table SortSata [] [].

  If the filtering storage overshoot amount Filt [2] [2] is larger than the sort storage overshoot amount SortData [2] [1] in processing 1202, processing 1204 is not performed. That is, the filtering information data table FiltData [] [2] is not saved, and the second information amount determination process is terminated.

  If the sort storage overshoot amount SortData [2] [1] and the filtering storage overshoot amount FiltData [2] [2] are the same value in the processing 1202, another operation characteristic data is compared in the processing 1203.

  However, when the second information amount determination process is performed, if the information amounts of the processes 1202 and 1203 are not the driving characteristic data that can be used as the determination value, the filtering storage data table FiltData [] [2] and the sort storage data The table SrotData [] [1] is determined to be a control parameter with almost no difference in motor operation, and the filtering storage data table FiltData [] [2] is not stored in the sorting storage data table SrotData [] [1]. 2 The information amount determination process ends.

  FIG. 13 shows a case where the filtering saved positioning settling time Filt [] [] is larger than the sort saving positioning settling time SortData [] [] by the processing 904 in FIG. 9 and the filtering saving positioning settling by the processing 904 and processing 906 in FIG. FIG. 10 is an explanatory diagram of sort storage processing when it is determined that time FiltData [] [] is smaller than sort storage positioning settling time SortData [] [].

  The process 1300 is a process performed when it is determined by the process 904 in FIG. 9 that the filtering storage positioning settling time FiltData [1] [p] is larger than the sort storing positioning settling time SortData [1] [1]. Filtering saved positioning settling time FiltData [1] [p] is greater than the sort saved positioning settling time SortData [1] [1], so it is not saved in the sort saved data table SortData [] [1], and the next row is sorted. Positioning settling time SortData [1] [2] and comparison processing, that is, processing 1301 is performed.

  The processing 1301 is processing when it is determined by the processing 904 and processing 906 in FIG. 9 that the filtering storage positioning settling time FiltData [1] [p] is smaller than the sorting storage positioning settling time SortData [1] [2]. It is. In this case, the filtering storage data table FiltData [] [p] needs to be stored in the sorting storage data table SortData [] [2].

  At this time, since data exists in the sort storage data table SortData [] [2], the arrangement of the data in the sort storage data table SortData [] [2] is changed, and the data table column is set in a data storable state. There is a need. Therefore, the sort storage data table movement processing 1302 to 1304 is performed.

  In other words, the sort storage data table moving process 1302 stores the sort storage data table SortData [] [q-1] in the sort storage data table SortData [] [q], and then executes the sort storage data table movement process 1303. The sort storage data table moving process 1303 stores the sort storage data table SortData [] [q-2] in the sort storage data table SortData [] [q-1].

  Thereafter, as shown in sort storage data table movement processing 1302 and 1303, processing for shifting the storage location of the sort storage data table SortData [] [] one by one is executed, and the processing shown in processing 1302 and processing 1303 is performed. Processing up to processing 1304 is performed.

  Since the sort storage data table SortData [] [2] is stored in the sort storage data table SortData [] [3] by the sort storage data table move processing 1304, the sort storage data table SortData [] [2] can be stored. It becomes a data table sequence, and the filtering saved data table FiltData [] [p] can be saved in the sorted saved data table SortData [] [2] by processing 1301.

  FIG. 14 is an explanatory diagram of processing for displaying on the graph 551 the sort storage positioning settling time [1] [q] obtained by ranking the positioning settling time time_inp after the information amount selection processing is completed in the processing 605. .

  A graph 1400 is a graph 551 after the information amount selection processing. The horizontal axis is displayed in accordance with the information amount ranking, and the vertical axis is displayed as the sorting saved positioning settling time data SortData [1] [q].

  Processing 1401 is a graph showing plot points with the value of the sort data table label number SLblNo = 1 as the value on the horizontal axis of the graph 1400 and the value of the sort storage positioning settling time data SortData [1] [1] as the value on the vertical axis of the graph 1400. 551 is displayed.

  The display processing of the sort storage positioning settling time data SortData [1] [q] is performed from the sort data table label number SLblNo = 1 to SLblNo = q. That is, the same processing as the processing 1401 is performed up to the processing 1402, and the data display processing on the graph 1400 is performed.

  Here, the displayed value can be displayed up to the order desired by the operator. That is, q = 10 when displaying the positioning settling time data up to the 10th place. In addition, after the positioning settling time is displayed on the graph 1400, the vertical axis data can be changed to the overshoot amount. Of course, when the information amount to be subjected to the information amount selection process is the overshoot amount, the overshoot amount is displayed. In addition, sort storage positioning settling time is arranged in ascending order from SLblNo = 1, but when displaying in descending order, it should be displayed from SLblNo = q to SLblNo = q-1 to the order desired by the operator. Good.

  The procedures shown in the flowcharts of FIGS. 6 to 14 and the explanatory diagrams can provide the amount of information that the worker ranks within the desired range with respect to the amount of information emphasized by the worker. .

  FIG. 15 is an explanatory diagram of the positioning settling time and control parameter display processing displayed in the graph 551 and the control parameter writing processing displayed.

  Screen 1500 is similar to screen 550. Further, the graph 1501 is the same as the graph 551, and the graph 1501 is the same as the graph 1400 after the information amount selection process.

  First, a control parameter display process, which is a process for displaying a control parameter on the control parameter display unit 1505 when a point plotted on the graph 1501 is pointed, will be described.

  For example, when a point constituted by the number of operations 3 and the sort stored positioning settling time data SortData [1] [3] is selected on the graph 1501, the processing 1502 is executed.

  A process 1502 acquires control parameter data Table [5] [3] or sort storage control parameter data SortData [5] [3] from the table 1503. Here, the table 1503 is the data table Table [5] [3] when it is before the information amount sort storage, and the sort storage data table SortData [5] [3] when it is after the information amount sort storage. .

  After obtaining the control parameters from the table 1503, the processing 1504 is executed. A process 1504 displays the control parameters in the table 1503 and the control parameters on the control parameter display unit 1505.

  Next, a display control parameter writing process, which is a process of writing the control parameter displayed on the control parameter display unit 1505 to the motor control device, will be described.

  In the display control parameter writing process, first, the button 1506 is selected by the operator, and the process 1507 is performed. A process 1507 acquires a control parameter displayed on the control parameter display unit 1505 and executes a process 1508. A process 1508 acquires the control parameter displayed on the control parameter display unit from the table 1503 and executes the process 1509.

  A process 1509 performs a process of writing the control parameter acquired from the table 1503 to the electric motor control device 1510. Thus, the control parameter being displayed on the control parameter display unit 1505 is written into the motor control device.

  Further, when the operation waveform data is stored in the sort storage data table SortData [] [], the operation waveform data can be displayed by selecting a plot point of the graph 1501.

  It is also possible to perform the information amount selection process for another information amount again from within the range of the information amount subjected to ranking.

  For example, it is assumed that the positioning settling times are ranked from 1st to 10th by the information amount selection process. In this case, the positioning settling time 1 is determined by performing the information amount selection process again from the button 554 as the data on which the overshoot amount is important for the operator with respect to the positioning settling times ranked from the first place to the 10th place. It is also possible to change the data in the range of the 10th place to the 10th place in the order of the 1st to 10th overshoot amounts.

  FIG. 16 is an overall system configuration diagram of an electric motor control apparatus that can employ the present invention in this embodiment. In FIG. 16, 1601 is a ball screw unit, 1602 is an electric motor, 1603 is a position detector for the electric motor 1602, 1603 is a slider for mounting a load 1604, 1600 is a servo amplifier, 1606 is a position detection signal for the electric motor 1602, and transmits it to the servo amplifier 1600. Cable. Reference numeral 1607 denotes a cable for supplying driving power from the servo amplifier 1600 to the electric motor 1602, and reference numeral 1608 denotes a cable for supplying power to the servo amplifier. 1609 is a personal computer on which an automatic adjustment function and an adjustment result management device are mounted; 1610, an adjustment condition from the personal computer 1609, and a motor operation time when the motor is operated according to a position command generated by a 121 position command generation unit This is a communication cable for transmitting operation waveform data to the servo amplifier 1600.

  The present embodiment is an embodiment that is common to both rotary motors and linear motors as motor control targets.

  Further, in this embodiment, when the motor control device is automatically adjusted, when the motor is operated a plurality of times, the position command patterns 1 to N output from the position command generation unit 121 provided in the motor are described as position command values. However, the means for operating the electric motor a plurality of times is not limited. That is, a position command generation device input from the outside may be attached to the motor control device, and a position command pattern may be input.

  When the motor is operated a plurality of times, the control parameter adjustment method of the motor control device may be automatic adjustment or manual adjustment. That is, the control parameter of the motor control device may be manually adjusted by the operator every time the motor is operated.

  Further, when the button 556 is selected to confirm the operation of the control parameter reset by the adjustment management function, it is possible to generate a position command pattern set during automatic adjustment of the motor control device. That is, the operation of the electric motor with the control parameter after resetting can be confirmed by the button 556.

  Further, the device that stores the amount of information that is characteristic of the motor operation may be a motor control device.

DESCRIPTION OF SYMBOLS 1 ... Electric motor, 2 ... Drive object load, 3 ... Connection shaft, 4 ... Power converter, 5 ... Position detector, 6 ... Position controller, 7 ... Speed detector, 8 ... Speed controller, 9 ... Current detector DESCRIPTION OF SYMBOLS 10 ... Current controller, 11 ... Data measurement part, 12 ... Parameter tuning part, 13 ... Adjustment result management apparatus, 121 ... Position command generation part, 122 ... Control parameter adjustment part, (theta) _M ^* ... Position command value, (theta) _M ... position detection value, ω _M ^* ... speed command value, ω _M ... speed detection value, i _q ^* ... torque current command value, i _q ... torque current detection value

Claims (16)

A position command pattern is output, the motor is operated a plurality of times according to the position command pattern, a plurality of driving characteristic data of the motor is acquired, and the plurality of driving operations are displayed on a display device that displays the acquired driving characteristic data An electric motor control device that outputs information of characteristic data,
Obtaining a control parameter when obtaining one driving characteristic data selected from a plurality of driving characteristic data displayed on the display device;
The acquired control parameter is configured to be settable as a control parameter of the electric motor,
An electric motor control device that drives the electric motor using a set control parameter. There are a plurality of the position command patterns, the motor is operated a plurality of times according to each of the plurality of position command patterns, and driving characteristic data acquired by each operation can be displayed on the display device. The electric motor control device according to claim 1, wherein The driving characteristic data is collected as an aggregate of various types of information amount, and when one type of information amount is selected from the multiple types of information amount, the plurality of information is based on the one type of information amount The motor control device according to claim 1, wherein the operation characteristic data of the motors are sorted and displayed on the display device. When the plurality of driving characteristic data is sorted and displayed on the display device based on the one type of information amount, there is a plurality of driving characteristic data having the same value for the one type of information amount. The motor control device according to claim 3, wherein one operating characteristic data determined based on another amount of information not selected is displayed on the display device. When one of the information amounts constituting the driving characteristic data is a value outside a predetermined range, the driving characteristic data including the value outside the range is not displayed on the display device. The electric motor control device according to claim 3. The electric motor control device according to claim 3, wherein the number of operation characteristic data displayed on the display device can be set. The operation characteristic data sorted and displayed on the display device based on the one type of information amount is re-sorted on the basis of another information amount different from the one type of information amount, and then displayed on the display device. The motor control device according to claim 3, wherein the motor control device is configured to be rearranged and displayable. 5. The motor control device according to claim 3, wherein the various types of information amount include at least one of positioning settling time , overshoot amount, motor stop vibration amount, and operation waveform data. 6. . Output position command pattern,
In response to the position command pattern, the motor is operated a plurality of times to obtain a plurality of operating characteristic data of the motor.
Get
Information of the plurality of driving characteristic data is displayed on a display device that displays the acquired plurality of driving characteristic data.
Information,
One driving characteristic data selected from a plurality of driving characteristic data displayed on the display device.
Control parameter when the data is acquired is set as a control parameter of the motor,
An electric motor control characterized in that the electric motor is driven using a set control parameter.
Parameter setting method for the control device. There are a plurality of the position command patterns, and the position command patterns correspond to each of the plurality of position command patterns.
It is assumed that the motor is operated multiple times, and the operation characteristic data acquired by each operation is
10. The parameter setting method for an electric motor control device according to claim 9, wherein display is possible on the display device. The driving characteristic data is collected as a collection of various types of information, and the various types of information are collected.
When one type of information amount is selected, the plurality of operations are performed based on the one type of information amount.
10. The parameter setting method for an electric motor control device according to claim 9, wherein the rolling characteristic data is sorted and displayed on the display device. The display device by sorting the plurality of driving characteristic data based on the amount of information of the one type
When there is a plurality of driving characteristic data with the same amount of information of the one type
In this case, one driving characteristic data determined based on other information amount not selected is displayed in the table.
The parameter setting method for the motor control device according to claim 11, wherein the parameter setting method is displayed on a display device. If one of the information amounts constituting the driving characteristic data is a value outside the predetermined range
In such a case, the operation characteristic data including a value outside the range is not displayed on the display device.
The parameter setting method for the motor control device according to claim 11. When the display number of the operation characteristic data displayed on the display device is set, the set display
12. The parameter setting method for an electric motor control device according to claim 11, wherein a number of operation characteristic data is displayed on the display device. The operation characteristic data sorted on the display device and displayed on the display device based on the information amount of the one type.
The display device by re-sorting the data based on another information amount different from the one type of information amount
The parameter setting method for the motor control device according to claim 11, wherein the parameter setting method is arranged and displayed. The motor control device according to claim 11 or 12, wherein the various types of information amount include at least one of positioning settling time, overshoot amount, motor stop vibration amount, and operation waveform data. Parameter setting method.

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