JP7086312B1 - Graph display program, graph display device, graph display method - Google Patents

Abstract

The graph display program according to the present disclosure is a control amount acquisition step of acquiring a first control amount which is a control amount of each of a plurality of servo motors and a second control amount which is a control amount of a controlled object together with time information. Then, a plurality of first graphs are sequentially displayed on the display screen at a predetermined speed from a predetermined start time to an end time based on the time information acquired together with the first control amount, and the first graph is displayed. The computer is made to execute a reproduction step of sequentially displaying the second graph in synchronization with the display of the first graph on another display screen based on the time information acquired together with the control amount of 2.

Description

The present disclosure relates to a graph display program, a graph display device, and a graph display method used in a servo control system.

There is a servo control system provided with a plurality of servomotors and controlling them to drive a controlled object having a plurality of drive axes. In the servo control system, control parameters such as a gain value for appropriately controlling the servo motor are set, and the control parameter is a state quantity (state quantity) indicating a control command value for each servo motor or a control result of each servo motor. It is evaluated and adjusted by checking the position (position, speed, etc.).

To check the control command value for each servo motor or the state amount of each servo motor, create a waveform graph for each servo motor that displays the numerical value indicating the position or speed included in the control command value for the servo motor on the time axis. It is possible by displaying, and grasping the time change such as position or speed. However, although it is possible to confirm each servomotor only by confirmation using such a waveform graph, it is not possible to confirm whether the controlled object is operating as intended. Therefore, the graph display device described in Patent Document 1 below displays a locus graph displaying a target locus and an actual locus of a controlled object in a spatial coordinate system together with a waveform graph relating to each of the above servomotors on the screen. Therefore, not only the control command value and the like can be confirmed for each servomotor, but also the locus of the controlled object can be confirmed and the control parameters can be evaluated.

Japanese Unexamined Patent Publication No. 2019-82754

The graph display device described in Patent Document 1 can display a cursor on the time axis of a waveform graph relating to a servomotor, and can display a trajectory graph up to the time when the cursor is located on the time axis. can. When the user drags this cursor along the time axis, the time range in which the locus graph is displayed increases or decreases in tandem. Therefore, the user can compare the changes at the same time in the waveform graph for each servomotor and the locus graph for the controlled object by dragging the cursor.

However, the user has to check the waveform graph for each servomotor and the locus graph for the controlled object while moving the cursor on the time axis by dragging, which requires a lot of work at once. Therefore, there is a problem that the confirmation of each graph tends to be insufficient.

The present disclosure has been made to solve the above-mentioned problems, and is a graph display program, a graph display device, and a graph display that can facilitate the confirmation work of the graph related to the servomotor and the graph related to the controlled object. The purpose is to provide a method.

The graph display program according to the present disclosure acquires a first control amount for each of a plurality of servo motors by acquiring a state quantity indicating a control command value for the servo motor or a control result of the servo motor as the first control quantity together with time information. A second control amount acquisition step of acquiring a control command value for a control object driven by a plurality of servo motors or a state quantity indicating a control result of the control object as a second control amount together with time information. A first display step for displaying a first display screen for displaying a first graph showing a first control amount, and a second display step for displaying a second graph showing a second control amount. A second display step for displaying the display screen and a predetermined speed on the first display screen from a predetermined start time to an end time based on the time information acquired together with the first control amount. A reproduction step in which the first graph is sequentially displayed and the second graph is sequentially displayed on the second display screen in synchronization with the display of the first graph based on the time information acquired together with the second control amount. And, a list in which the first control amount and the second control amount acquired in the first control amount acquisition step and the second control amount acquisition step are arranged in chronological order is displayed on the third display screen and reproduced. The first graph included in the list when the first graph is displayed sequentially from the start time to the end time in the step and the first graph at the playback time between the start time and the end time is displayed. The time indicated by the time information acquired together with the first control amount among the control amounts is acquired together with the first control amount closest to the reproduction time and the second control amount among the second control amounts included in the list. A third display step of displaying the second control amount whose time indicated by the time information is closest to the playback time in a display format different from that of the other first control amount and the second control amount is displayed on the computer. It is characterized by being executed.

Further, in the graph display device according to the present disclosure, for each of the plurality of servo motors, the first control that acquires the control command value for the servo motor or the state quantity indicating the control result of the servo motor as the first control quantity together with the time information. A second controlled quantity acquisition unit that acquires a control command value for a controlled object driven by a plurality of servo motors or a state quantity indicating a control result of the controlled object as a second controlled quantity together with time information. And a first display unit for displaying a first display screen for displaying a first graph showing a first control amount, and a second for displaying a second graph showing a second control amount. The second display unit that displays the second display screen, and the first display screen that is predetermined from the predetermined start time to the end time based on the time information acquired together with the first control amount. The first graph is sequentially displayed in terms of speed, and the second graph is sequentially displayed on the second display screen in synchronization with the display of the first graph based on the time information acquired together with the second control amount. A list in which the first control amount and the second control amount acquired by the reproduction unit, the first control amount acquisition unit, and the second control amount acquisition unit are arranged in chronological order is displayed on the third display screen. , When the playback unit displays the first graph sequentially from the start time to the end time and displays the first graph at the playback time between the start time and the end time, the first graph included in the list is displayed. Along with the first control amount whose time indicated by the time information acquired together with the first control amount of the first control amount is closest to the reproduction time and the second control amount of the second control amount included in the list. A third display unit is provided, which displays a second control amount whose time indicated by the acquired time information is closest to the playback time in a display format different from that of the other first control amount and the second control amount. It is a thing.

Further, in the graph display method according to the present disclosure, the first control amount acquisition unit uses a state amount indicating a control command value for the servo motor or a control result of the servo motor as the first control amount for each of the plurality of servo motors. The first control amount acquisition step to be acquired together with the time information, and the state quantity in which the control amount acquisition unit indicates the control command value for the control object driven by a plurality of servo motors or the control result of the control object are the second. A second control amount acquisition step to be acquired together with time information as a control amount, and a first display unit for displaying a first display screen for displaying a first graph showing the first control amount. The display step, the second display step for displaying the second display screen for displaying the second graph showing the second control amount, and the playback unit for the first The first graph is sequentially displayed on the first display screen at a predetermined speed from a predetermined start time to an end time based on the time information acquired together with the control amount, and the second control amount is displayed. The reproduction step of sequentially displaying the second graph in synchronization with the display of the first graph on the second display screen based on the time information acquired together with the third display unit, and the third display unit acquire the first control amount. A list in which the first control amount and the second control amount acquired in the step and the second control amount acquisition step are arranged in chronological order is displayed on the third display screen, and the first graph is started in the reproduction step. The first control of the first control amount included in the list when the first graph in the playback time between the start time and the end time is displayed when sequentially displaying from the time to the end time. The first control amount whose time indicated by the time information acquired together with the amount is closest to the playback time and the time indicated by the time information acquired together with the second control amount among the second control amounts included in the list are reproduced. It includes a second display step that displays the second control amount closest to the time in a display format different from that of the other first control amount and the second control amount .

In the graph display program, graph display device, and graph display method according to the present disclosure, the first graph is sequentially displayed at a predetermined speed, and the second graph is also sequentially displayed in synchronization with the graph related to the servomotor. It is possible to facilitate the confirmation work of the graph regarding the controlled object.

It is a conceptual diagram of the servo control system which concerns on embodiment of this disclosure. It is a block diagram which shows the hardware composition of the graph display device, the controller and the servo amplifier which concerns on embodiment of this disclosure. It is a block diagram which shows the functional structure of the graph display device which concerns on embodiment of this disclosure. It is a block diagram which shows the functional structure of the graph display part of the graph display apparatus which concerns on embodiment of this disclosure. It is a block diagram which shows the functional structure of the controller which concerns on embodiment of this disclosure. It is a block diagram which shows the functional structure of the servo amplifier which concerns on embodiment of this disclosure. It is a figure which shows the example of the screen for setting a record item displayed by the display part of the graph display apparatus which concerns on embodiment of this disclosure. It is a flowchart which shows the record item setting process of the graph display apparatus which concerns on embodiment of this disclosure. It is a flowchart which shows the record item collection process of the controller which concerns on embodiment of this disclosure. It is a flowchart which shows the record item collection process of the controller which concerns on embodiment of this disclosure. It is a flowchart which shows the recording item collection process of the servo amplifier which concerns on embodiment of this disclosure. It is a flowchart which shows the record item collection process of the graph display apparatus which concerns on embodiment of this disclosure. It is a flowchart which shows the graph display processing and reproduction processing of the graph display apparatus which concerns on embodiment of this disclosure. It is a figure which shows the example of the graph display screen which the display part of the graph display apparatus which concerns on embodiment of this disclosure displays. It is a figure which shows the example of the graph display screen which the display part of the graph display apparatus which concerns on embodiment of this disclosure reproduces and displays.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. The same reference numerals in the figure represent the same or corresponding parts.

First, the configuration of the servo control system 1 including the graph display device 100 according to the embodiment of the present disclosure will be described with reference to FIG.
The servo control system 1 is a system that controls the drive state of a controlled object having three drive axes. The controlled object is, for example, a work transfer device, which is a device in which three drive axes extend in orthogonal directions in a three-dimensional space and the work can be moved in three axial directions.
The servo control system 1 includes a graph display device 100, a controller 200, servo amplifiers 300a, 300b, 300c, servomotors 400a, 400b, 400c, and a communication line 500. The servomotors 400a, 400b, and 400c are connected to each of the three drive shafts of the controlled object to drive the controlled object. The controller 200 outputs control command values including the coordinate values, time, etc. of the position of the movement destination of the controlled object to the servo amplifiers 300a, 300b, 300c, and the servomotors 400a, 400b, 400c to the servo amplifiers 300a, 300b, 300c. By controlling the control object, the controlled object is controlled. The servo amplifiers 300a, 300b, and 300c control the current value and the like output to the servomotors 400a, 400b, and 400c based on the control command value received from the controller 200.
The graph display device 100 graphically displays a control command value for each servomotor or a state quantity indicating a control result of each servomotor, and a control command value for a controlled object or a state quantity indicating a control result of the controlled object. A liquid crystal monitor 102 for displaying a graph, a calculation device 101 for controlling the display state of the liquid crystal monitor 102 and calculating display contents, and a keyboard 103 and a mouse 104 for receiving operations from the user. I have. The graph display device 100 can be configured by a computer.
The graph display device 100, the controller 200, and the servo amplifiers 300a, 300b, and 300c are connected by a communication line 500, and the communication line 500 can transmit and receive control command values, state quantities indicating control results, and other request signals. be. The communication line 500 is, for example, a LAN (Local Area Network) cable or the like.

Next, the configurations of the graph display device 100, the controller 200, and the servo amplifiers 300a, 300b, and 300c constituting the servo control system 1 will be described with reference to FIGS. 2 to 6, respectively. Since the servo amplifiers 300a, 300b, and 300c have the same configuration, they may be described as the servo amplifier 300. Further, the servomotors 400a, 400b, and 400c may be similarly described as the servomotor 400.

First, in the graph display device 100, as shown in FIG. 2, the arithmetic unit 101 includes a processor 105, a storage device 106, and an interface 107.
The processor 105 controls the entire graph display device 100. Various programs such as a graph display program for displaying a graph are read from the storage device 106 and executed.
The storage device 106 is a large-capacity non-volatile recording medium such as an HDD (Hard Disk Drive) or SSD (Solid State Disk), and stores various programs including a graph display program executed by the processor 105. It also stores information such as control command values received from the controller 200, state quantities indicating control results, and other request commands.
The interface 107 is a LAN port and a USB (Universal Serial Bus) port. The LAN port has a communication line 500 which is a LAN cable, and the USB port has a USB cable 108 connected to a liquid crystal monitor 102, a keyboard 103 and a mouse 104. Is connected. The interface 107 transmits and receives an output signal from the arithmetic unit 101 to the controller 200 and the liquid crystal monitor 102 and an input signal from the controller 200, the keyboard 103 and the mouse 104 to the arithmetic unit 101.

The graph display program described above includes processing steps such as a first control amount acquisition step, a second control amount acquisition step, a first display step, a second display step, a reproduction step, and a third display step, which will be described later. Is a program that causes a computer to execute. The computer composed of the arithmetic unit 101, the liquid crystal monitor 102, the keyboard 103, and the mouse 104 functions as the graph display device 100 by the processor 105 executing the graph display program.
Next, the functional configuration of the graph display device 100 when the computer is made to function as the graph display device 100 will be described with reference to FIG.
The graph display device 100 includes a display unit 111, an operation unit 112, a communication unit 113, and a storage unit 114. The display unit 111 displays information such as a graph to the user, and is composed of a liquid crystal monitor 102. The operation unit 112 receives an operation from the user, and is composed of a keyboard 103 and a mouse 104. The communication unit 113 transmits / receives input / output signals to / from the controller 200, and is composed of an interface 107. The storage unit 114 stores various programs including a graph display program, control command values received from the controller 200, state quantities indicating control results, and other information such as request commands, and is configured by the storage device 106.

Further, the graph display device 100 includes a control amount acquisition unit 115 and a graph display unit 116.
The control amount acquisition unit 115 acquires a control command value for the servomotors 400a, 400b, 400c or a state quantity indicating the control result of the servomotors 400a, 400b, 400c from the controller 200 together with the time information from the controller 200 via the communication unit 113. .. Specifically, the control command value for the servo motor 400 is a command value transmitted from the controller 200 to each servo amplifier 300 to indicate the position of the movement destination, or a current value output from the servo amplifier 300 to the servo motor 400. It is a current command value indicating. The state quantity indicating the control result of each servomotor 400 is, specifically, a feedback value related to a position received by the servo amplifier 300 from the servomotor 400.
Further, the control amount acquisition unit 115 obtains a control command value for the control object driven by the servomotors 400a, 400b, 400c from the controller 200 via the communication unit 113, or a state quantity indicating the control result of the control object. It has a function to acquire with time information. The control command value for the controlled object is a coordinate value including a numerical value indicating the target position of the controlled object in each of the three orthogonal directions in the space where the controlled object is arranged as a component. More specifically, since the above three directions correspond to the drive shaft to which the three servomotors 400 are connected, the controller 200 outputs the control command value for the controlled object to each servo amplifier 300. It is a coordinate value having a command value indicating the position of the movement destination with respect to each servomotor 400 as a component. The state quantity indicating the control result of the controlled object is a coordinate value including a numerical value indicating the actual position of the controlled object in each of the three orthogonal directions in the space where the controlled object is arranged as a component. More specifically, since the above three directions correspond to the drive shaft to which the three servomotors 400 are connected, the state quantities indicating the control results for the controlled object are the servomotors 400a and 400b, respectively. It is a coordinate value calculated based on the feedback value of 400c. It should be noted that a position sensor may be provided on the gripped portion of the controlled object itself, for example, the work, and the output thereof may be converted into a coordinate value to obtain a state quantity indicating a control result.
Here, the time information acquired together with the control command value and the like is information indicating the time when the control command value or the state quantity indicating the control result is simultaneously stored in the controller 200 or the servo amplifier 300, and will be described later. It is a time acquired from the internal clock 213 (see FIG. 5) of the controller 200 or the internal clock 313 (see FIG. 6) of the servo amplifier 300.
The state quantity indicating the control command value or the control result for each servomotor 400 corresponds to the first control quantity. The control amount acquisition unit 115 for acquiring the first control amount and time information corresponds to the first control amount acquisition unit. Further, the state quantity indicating the control command value or the control result for the controlled object corresponds to the second controlled quantity. The control amount acquisition unit 115 for acquiring the second control amount and time information corresponds to the second control amount acquisition unit. The first control amount and the second control amount may be collectively referred to as a control amount.

The graph display unit 116 controls the display unit 111 to display a graph and display the above-mentioned control amount list, and the detailed configuration thereof is shown in FIG.
The graph display unit 116 includes a waveform graph display unit 120, a locus graph display unit 121, a list display unit 122, and a reproduction unit 123.
The waveform graph display unit 120 has a function of displaying a display screen for displaying a graph showing a first control amount on the display unit 111. This display screen is displayed in a part of the screen of the liquid crystal monitor 102, which is the display unit 111. The waveform graph display unit 120 displays the time axis and the axis of the first control amount orthogonal to the time axis on this display screen, and when the reproduction process is not performed by the reproduction unit 123 described later, the reproduction process is performed. It has a function of displaying a graph showing the relationship between the first controlled amount and time (hereinafter referred to as a waveform graph) as a still image. The waveform graph display unit 120 can accept the user's selection and display the waveform graph for each of the servomotors 400a, 400b, and 400c, or can display the waveform graph only for the servomotor 400 selected by the user. good. In the present embodiment, the user selects the display of the waveform graph for each of the servomotors 400a, 400b, and 400c.
The waveform graph display unit 120 corresponds to the first display unit, and the display screen corresponds to the first display screen. Further, the displayed waveform graph corresponds to the first graph.

The locus graph display unit 121 has a function of displaying a display screen for displaying a graph showing a second controlled amount of the controlled object on the display unit 111. This display screen is a part of the screen of the liquid crystal monitor 102, which is the display unit 111, and is displayed in a region different from the first display screen described above. The locus graph display unit 121 displays three orthogonal axes on this display screen for indicating the position of the controlled object, and when the reproduction process is not performed by the reproduction unit 123 described later, the second It has a function of displaying a graph showing a locus of a controlled object (hereinafter referred to as a locus graph) as a still image based on the controlled amount of.
The locus graph display unit 121 corresponds to the second display unit, and the display screen corresponds to the second display screen. Further, the displayed locus graph corresponds to the second graph.

The reproduction unit 123 has a function of reproducing a waveform graph and a locus graph. Specifically, the reproduction unit 123 hides the waveform graph displayed by the waveform graph display unit 120 when it receives an operation of reproduction processing from the user, and the first one for each of the servomotors 400a, 400b, and 400c. Based on the time information acquired by the control amount acquisition unit 115 together with the control amount, a plurality of waveform graphs are sequentially displayed, that is, reproduced at a predetermined speed from a predetermined start time to a predetermined end time. Has a function. When the user has selected the display of only a part of the servomotors 400, the waveform graph of the selected servomotor is reproduced. Further, the reproduction unit 123 sequentially displays the trajectory graph in synchronization with the waveform graph based on the time information acquired by the control amount acquisition unit 115 together with the reproduction of the waveform graph and the second control amount for the controlled object. That is, it has a function of reproducing.
Further, the reproduction unit 123 can display a graph at a speed different from the above-mentioned predetermined speed, and has a function of allowing the user to select one of the speeds and performing reproduction at the selected speed. Has.

The list display unit 122 displays a list in which the servomotors 400 (servomotors 400a, 400b, 400c in the present embodiment) selected by the user to be displayed as a waveform graph and the control amounts of the controlled objects are arranged in chronological order. It has a function of displaying a display screen for displaying on the display unit 111. This display screen is a part of the screen of the liquid crystal monitor 102 which is the display unit 111, and is displayed in a region different from the first display screen and the second display screen. The list display unit 122 has a function of displaying the above list on this display screen. Further, when the reproduction process is performed by the reproduction unit 123 described later and the waveform graph and the locus graph at the reproduction time between the start time and the end time are displayed, the list display unit 122 is the first included in the list. The control amount that has the time information closest to the playback time among the control amounts, and the control amount that has the time information closest to the playback time among the second control amounts included in the list are displayed differently from other control amounts. It has a function to display in a format. Displaying in a different display format means, for example, displaying only the controlled amount in bold or highlighting.
The list display unit 122 corresponds to the third display unit, and the screen displayed by the list display unit corresponds to the third display unit.

The configuration of the graph display device 100 has been described above. Next, the configuration of the controller 200 will be described with reference to FIGS. 2 and 5.
As shown in FIG. 2, the controller 200 includes a processor 201, a storage device 202, and an interface 203, and is also called a programmable logic controller.
The processor 201 controls the entire controller 200. Various programs such as a program for controlling the servomotor 400 from the storage device 202 and a program for acquiring a control amount for transmission to the graph display device 100 are read and executed.
The storage device 202 is a large-capacity non-volatile recording medium such as an HDD (Hard Disk Drive) or SSD (Solid State Disk), and stores various programs executed by the processor 201. Further, the controller 200 stores a control amount such as a control command value transmitted to the servo amplifier 300 and a state amount indicating a control result acquired from the servo amplifier 300.
The interface 203 is a LAN port, and a communication line 500, which is a LAN cable, is connected to the LAN port. The interface 203 transmits and receives an input signal from the graph display device 100 and the servo amplifier 300 and an output signal from the controller 200 to the graph display device 100 and the servo amplifier 300.

Next, the functional configuration of the controller 200 will be described with reference to FIG.
The controller 200 includes a storage unit 211, a communication unit 212, and an internal clock 213. The storage unit 211 stores various programs, control amounts, and the like, and is configured by the storage device 202. The communication unit 212 transmits / receives input / output to / from the graph display device 100 and the servo amplifier 300, and is composed of the interface 203. The internal clock 213 provides time information when the controlled variable is stored in the storage unit 211, and is synchronized with the internal clock 313 included in the servo amplifier 300 described later.

The controller 200 further includes a control command unit 214 and a control recording unit 215. The control command unit 214 has a function of generating a control command value to be transmitted to each servo amplifier 300 and causing the communication unit 212 to transmit the control command value.
The control recording unit 215 has a function of temporarily storing the first control amount and the second control amount acquired by the graph display device 100 by the transmission request in the storage unit 211. Specifically, the control recording unit 215 generates a control command value for each servo amplifier 300 generated by the control command unit 214, and each servo amplifier 300 acquired from each servo amplifier 300 via the communication line 500 and the communication unit 212. The control command value and the feedback value of each servomotor 400 are stored in the storage unit 211 as the first control amount. Further, the control recording unit 215 is an actual control object calculated based on the coordinate value of the target position of the control object calculated based on the control command value for each servo amplifier 300 and the feedback value of each servo motor 400. The coordinate value of the position is stored in the storage unit 211 as a second control amount. As will be described later, which control amount is to be stored is determined based on the recording items output from the control amount acquisition unit 115 of the graph display device 100.

The configuration of the controller 200 has been described above. Next, the configuration of the servo amplifier 300 will be described with reference to FIGS. 2 and 6.
As shown in FIG. 2, the servo amplifier 300 includes a processor 301, a storage device 302, and an interface 303, and has a position command value, a speed command value, and a speed command value based on a control command value output from the controller 200. The servomotor 400 is controlled by generating a current command value, determining a current value to be output to the servomotor 400, and outputting the current value to the servomotor 400.
The processor 301 controls the entire servo amplifier 300. Various programs such as a program for controlling the servomotor 400 from the storage device 302 and a program for acquiring a control amount for transmission to the controller 200 are read and executed.
The storage device 302 is a large-capacity non-volatile recording medium such as an HDD (Hard Disk Drive) or SSD (Solid State Disk), and stores various programs executed by the processor 301. Further, control command values such as a position command value, a speed command value, and a current value for controlling the servomotor 400 are stored. Further, the feedback value acquired from the servomotor 400 is stored as a state quantity indicating a control result.
The interface 303 is a current control device for a LAN port and a servomotor 400, and a communication line 500, which is a LAN cable, is connected to the LAN port. The interface 203 transmits and receives an input signal from the controller 200 and an output signal from the servo amplifier 300 to the controller 200.

Next, the functional configuration of the servo amplifier 300 will be described with reference to FIG.
The servo amplifier 300 includes a storage unit 311, a communication unit 312, and an internal clock 313. The storage unit 311 stores various programs, control amounts, and the like, and is configured by the storage device 302. The communication unit 312 transmits / receives input / output to / from the controller 200, and is composed of an interface 303. The internal clock 313 provides time information when the controlled variable is stored in the storage unit 311 and is synchronized with the internal clock 213 included in the controller 200.

The servo amplifier 300 further includes a positioning control unit 314 and a control recording unit 315. The positioning control unit 314 generates a position command value, a speed command value, and a current command value based on the control command value received from the controller 200, determines a current value to be output to the servomotor 400, and corresponds to the current value. It has a function of outputting a current to the servomotor 400. The control recording unit 315 has a function of storing the position command value, the speed command value, and the current command value generated by the positioning control unit 314 in the storage unit 311. Further, the control recording unit 315 has a function of storing feedback values regarding the position, speed, and current value from the servomotor 400 in the storage unit 311.

The configuration of the graph display device 100 and the like constituting the servo control system 1 has been described above. Next, the process of acquiring the control amount in order for the graph display device 100 to display the graph on the display unit 111 will be described with reference to FIGS. 7 to 11.
The control amount acquired by the control amount acquisition unit 115 of the graph display device 100 is collected by the controller 200 and the servo amplifier 300. Therefore, first, the user selects the control amount desired to be graphed, and the control amount acquisition unit 115 that accepts the selection sets the control amount required for graph display to the controller 200 as a recording item. Request to do. This recording item setting process will be described with reference to FIGS. 7 and 8.
First, when the user operates the graph display device 100 to set the recording item and displays the recording item setting screen 130 shown in FIG. 7 on the display unit 111, the recording item setting process shown in the flowchart of FIG. 8 is performed. It will be started.

The recording item setting screen 130 of FIG. 7 includes an acquisition button 131, a recording item list 132, and a setting button 133. The record item list 132 is a list displaying items that can be selected when the user selects a record item. The example of FIG. 7 shows a state in which the record item list 132 has already been created, but the list has not been created or displayed at the stage when the processing of the flowchart of FIG. 8 is started.
When the user clicks the acquisition button 131 in order to display the items that can be selected as the recording items on the recording item list 132, the acquisition button 131 presses the control amount acquisition unit 115 as shown in the flowchart of FIG. It is determined that this has been done (YES in step S101), and the communication unit 113 is made to transmit the acquisition request signal requesting the transmission of the recordable item to the controller 200 (step S102). The control amount acquisition unit 115 repeats the determination in step S101 until the acquisition button 131 is clicked.

The controller 200 stores in advance a list of recordable items that can be recorded by the controller 200 itself and the servo amplifier 300 that is controlled, and when an acquisition request from the control amount acquisition unit 115 is received, information indicating recordable items is indicated. Is transmitted to the control amount acquisition unit 115. Upon receiving this information, the control amount acquisition unit 115 displays the recordable record items in the record item list 132 (step S103). The state in which the list of recordable items is displayed in this way is the record item setting screen 130 of FIG. 7, the controller name is described as the device name in the left column, and the recordable item is in the right column. The control amount is described as.
In the recording item list 132, the user can select each recording item with the mouse 104 or the like, and the control amount acquisition unit 115 accepts the selection of the recording item from the user (step S104). After selecting the recording item, the user clicks the setting button 133 to confirm the selection. Therefore, the control amount acquisition unit 115 states that the setting button is pressed when the user clicks the setting button 133. It is determined (YES in step S105), and the selection of the recording item is continuously accepted until it is clicked (NO in step S105).
After the setting button 133 is clicked, the control amount acquisition unit 115 stores the recorded item selected and accepted by the user in the storage unit 114 (step S106), and transmits the recorded item to the controller 200 (step S107). The controller 200 stores the received recording item in the storage unit 211. This completes the recording item setting process.

The controller 200 that has completed the setting of the recording item starts collecting the control amount that is the recording item. Specifically, when the setting is completed, the process of the flowchart of FIG. 9 is repeated at a fixed cycle.
As shown in FIG. 9, the control recording unit 215 of the controller 200 first reads the set recording item from the storage unit 211 (step S111). Then, the control recording unit 215 causes the communication unit 212 to transmit the transmission request signal of the recording item to the servo amplifier 300 (step S112). The processing of the servo amplifier 300 that has received the transmission request signal will be described later (see FIG. 11). When the servo amplifier 300 transmits data corresponding to the recording item in response to the transmission request signal, the control recording unit 215 receives the data via the communication unit 212 and stores the data in the storage unit 211 (step S113). If it is necessary to calculate the coordinate value of the position from the feedback value, the operation is performed and stored in the storage unit 211.

Further, the control recording unit 215 of the controller 200 also stores the control command value generated by the controller 200 itself according to the process of the flowchart of FIG. This process is started every time the controller 200 generates a control command value. First, the control recording unit 215 reads a recording item from the storage unit 211 (step S121). Then, the control recording unit 215 determines whether or not the generated control command value is included in the recording item read from the storage unit 211 (step S122), and if it is included in the recording item (YES in step S122). , The control command value is stored in the storage unit 211 together with the time information (step S123). Here, if it is necessary to calculate the coordinate value of the position from the control command value, an operation is performed and stored in the storage unit 211.

Next, the control amount collection process in the servo amplifier 300 will be described with reference to FIG. The processing of the flowchart of FIG. 11 is started at a fixed cycle.
First, the control recording unit 315 of the servo amplifier 300 transmits a transmission request signal so as to transmit a feedback value to the servomotor 400 (step S131). Then, when the feedback value is received from the servomotor 400, the time information is acquired with reference to the internal clock 313, and the feedback value is stored in the storage unit 311 together with the time information (step S132).
Then, the control recording unit 315 determines whether or not the transmission request signal is received from the controller 200 (step S133). This transmission request signal is transmitted from the controller 200 in step S112 of FIG.
When the transmission request signal is received (YES in step S133), the control recording unit 315 reads out the data corresponding to the recording item specified by the transmission request signal from the storage unit 311 (step S134), and the controller 200. (Step S135). After that, on the controller 200 side, as described above, the data received by the controller 200 is stored in the storage unit 211 (step S113 in FIG. 9).
When the transmission request signal is not received (NO in step S133), the control recording unit 315 does not read or transmit data, and ends the process.
Further, the servo amplifier 300 also stores the position command value, the speed command value, and the current command value generated for controlling the servo motor 400 in the storage unit 311 when they are generated, and the controller 200. When there is a transmission request signal from, it is transmitted to the controller 200.

By the recording item collection process of FIGS. 9 to 11 above, the controller 200 controls the control command value for each servomotor 400 transmitted by the controller 200 to each servomotor 400, and the control transmitted by each servomotor 300 to each servomotor 400. The first control amount and the second control amount, such as the command value and the feedback value from the servomotor 400, which is a state amount indicating the control result for each servomotor 400, are collected.
Next, the process of displaying the graph by the graph display device 100 using the control amount which is the control command value and the feedback value collected by the controller 200 will be described with reference to FIGS. 12 to 15.

The flowchart of FIG. 12 is a process in which the graph display device 100 collects control amount and time information from the controller 200 in order to create a graph, and starts when the graph display device 100 receives an operation for creating a graph from a user. .. The control amount acquisition unit 115 of the graph display device 100 reads out the recording items set in the controller 200 and the information of the controller 200 from the storage unit 114 in order to collect the control amount from the controller 200 (step S141). The recorded items and the information of the controller 200 are stored in step S106 in the flowchart of the process of setting the recorded items of FIG.
Next, the control amount acquisition unit 115 generates a transmission request signal requesting transmission of data corresponding to the recording item to the controller shown in the information of the controller 200, and causes the communication unit 113 to transmit the transmission request signal. (Step S142). Then, the data corresponding to the recording item is received from the controller 200 and stored in the storage unit 114 (step S143). It should be noted that this data includes not only the control amount but also the time information stored together with the control amount.
It should be noted that steps S141 to S143 shown in FIG. 12 are collectively referred to as a control amount acquisition step. Further, since the control amount acquired by the control amount acquisition unit 115 includes the first control amount and the second control amount, the control amount acquisition step is when focusing on the acquisition of the first control amount. Is called the first control amount acquisition step, and when focusing on the acquisition of the second control amount, it is called the second control amount acquisition step.

When the graph display device 100 acquires the control amount as described above, the graph display device 100 starts the graph display process and the graph reproduction process according to the flowchart of FIG.
The waveform graph display unit 120 of the graph display device 100 receives information on a waveform graph that the user wants to create. The waveform graph information is specifically information for instructing which control amount to create a waveform graph, and includes information on a plurality of waveform graphs if the user wishes to create a plurality of waveform graphs. .. In the present embodiment, it is assumed that the creation of the waveform graph for the servomotors 400a, 400b, and 400c is selected, but some servomotors 400 may be selected. Upon receiving the waveform graph information, the waveform graph display unit 120 displays a waveform graph display screen (first display screen) in a part of the screen of the liquid crystal monitor 102, which is the display unit 111. Further, in the display screen, the axis of the control amount corresponding to the waveform graph to be displayed is displayed as the vertical axis. The time axis is displayed as the horizontal axis so as to be orthogonal to the control amount axis. Further, the waveform graph display unit 120 reads out the control amount and the time information included in the data corresponding to the recording items stored in the storage unit 114 in step S143 of FIG. 12, and generates a waveform graph based on these. , Displayed on the above display screen (step S151).
Note that step S151 corresponds to the first display step.

Next, the locus graph display unit 121 of the graph display device 100 is a part of the screen of the liquid crystal monitor 102, which is the display unit 111, and displays the locus graph in an area that does not overlap with the display screen for the waveform graph. Display the screen (second display screen). In addition, three orthogonal axes for expressing a three-dimensional space are displayed on the display screen. These three orthogonal axes are axes for expressing the position in the space where the controlled object is arranged and can be moved. Further, the locus graph display unit 121 reads out the coordinate values and time information of the target or the actual position of the controlled object included in the data corresponding to the recording items stored in the storage unit 114 in step S143 of FIG. A locus graph is generated based on the coordinate values and the time information and displayed on the above display screen (step S152).
Note that step S151 corresponds to the second display step.

FIG. 14 shows an example of the screen of the liquid crystal monitor 102, which is the display unit 111 in which the waveform graph and the locus graph are displayed as described above.
Of the entire display screen, the left side is the screen for graph display, and the upper three graph display screens are the waveform graph display screens 141, 142, and 143. In this example, on the first waveform graph display screen 141, a graph regarding the control amount of the actual current position of the servomotor 400 that drives the axis 1 which is one of the three axes of the controlled object is displayed. The vertical axis is set and displayed as the axis of the actual current position of the servomotor 400 that drives the axis 1, and the horizontal axis is set and displayed as the time axis. Further, a waveform graph relating to the control amount of the actual current position of the servomotor 400 that drives the axis 1 is displayed.
On the second waveform graph display screen 142, the user so as to display a graph regarding the control amount of the actual current position of the servomotor 400 that drives the axis 2 which is one of the three axes of the controlled object. The vertical axis is set and displayed as the axis of the actual current position of the servomotor 400 that drives the axis 2, and the horizontal axis is set and displayed as the time axis. Further, a waveform graph relating to the control amount of the actual current position of the servomotor 400 that drives the axis 2 is displayed.
The user can display a graph on the control amount of the actual current position of the servomotor 400 that drives the axis 3 which is one of the three axes of the controlled object on the third waveform graph display screen 143. The vertical axis is set and displayed as the axis of the actual current position of the servomotor 400 that drives the axis 3, and the horizontal axis is set and displayed as the time axis. Further, a waveform graph relating to the control amount of the actual current position of the servomotor 400 that drives the axis 3 is displayed.
Further, the graph display screen below the three waveform graph display screens 141, 142, and 143 is the locus graph display screen 144. On the locus graph display screen 144, three axes for showing the position in the space where the controlled object is arranged are displayed, and the locus graph showing the locus of the controlled object is displayed.

Further, the list display unit 122 of the graph display unit 116 displays a display screen (third display screen) for displaying the list in an area that does not overlap with the area that is the graph display screen. In the example of FIG. 14, it is displayed on the right side of each graph. The list display unit 122 displays the graph setting list 145 showing the contents of the displayed graph in the display screen, and the control amount corresponding to the axis used in the waveform graph and the locus graph in chronological order. The record list 146 is displayed.
The graph setting list 145 is a list of graph information displayed on the waveform graph display screens 141, 142, 143 and the locus graph display screen 144. The displayed graphs are numbered and are numbered 1, 2, 3, and 4 in the order they are displayed from the top, and this number is displayed in the leftmost column (NO. Column). NO. The graph name is displayed in the column to the right of the column. The graph name can be input and changed as appropriate by the user. On the right side of the graph name column, the type column is displayed, and here, NO. Whether the graphs 1, 2, 3, and 4 are waveform graphs or locus graphs are displayed. The type may be input by the user, or may be automatically determined and displayed depending on whether or not the graph includes a time axis. The columns of item 1, item 2, and item 3 are displayed on the right side of the type column (the column of item 3 is hidden in FIG. 14 and can be displayed by operating the slide bar at the bottom of the list). .. In the column of item 1, the name of the axis of the controlled variable displayed in the waveform graph and the name of one of the axes displayed in the locus graph are displayed. In the columns of item 2 and item 3, the names of the remaining axes displayed in the locus graph are displayed. The names of these axes may be input by the user, or the names of the recorded items stored in the storage unit 114 in step S106 of the flowchart of FIG. 7 (see list 132 of FIG. 6) may be read out and displayed. good.
The control record list 146 is a list in which the control quantities corresponding to the axes of the displayed waveform graph and locus graph are arranged in chronological order. When arranging in a time series, the time indicated by the time information stored together with the control amount is used. The leftmost column in the control record list 146 is the time column, and the times are displayed in order. In the column to the right of the time column, a column of control commands is displayed, and what kind of control command is given to the controlled object is displayed. This control command accepts input by the user and is displayed. Further, the displayed time and the corresponding control amount are displayed in the three columns on the right side of the control command column. In the example of FIG. 14, the control amount corresponding to each axis of the waveform graph is displayed. The three axes of the locus graph are omitted because they are common to the axes of the waveform graph.

Next, returning to the flowchart of FIG. 13, the graph reproduction process by the graph display device 100 will be described.
The waveform graph display unit 120 and the locus graph display unit 121 continue to display the graph of the still image until the reproduction unit 123 receives the operation to start the reproduction process from the user (NO in step S153), and the user starts the reproduction process. When the operation is performed, the reproduction unit 123 determines that the reproduction operation has been performed (YES in step S153), and causes the waveform graph display unit 120 and the locus graph display unit 121 to hide the waveform graph and the locus graph. Then, the reproduction unit 123 reads out the control amount and the time information selected as the waveform graph to be displayed from the storage unit 114, and matches the end time from the time that matches the start time based on the control amount and the time information. The waveform graphs are sequentially displayed toward the time of day (step S154). The start time and end time can be input by the user at the time of the start operation of the reproduction process.
Further, the reproduction unit 123 reads out the control amount and the time information necessary for displaying the locus graph from the storage unit 114, and based on the control amount and the time information, synchronizes with the display of the waveform graph to the locus graph. Are sequentially displayed (step S155).
In addition, step S154 and step S155 are collectively referred to as a reproduction step.

In the example of FIG. 14, the operation of the graph reproduction process is performed on the operation screen 147 at the lower right. The operation screen 147 is provided with a play / pause button 148, a slow play / pause button 149, and a stop button 150, and the user can operate these buttons with the mouse 104. When the user clicks the play / pause button 148 once, the operation to start the play process is accepted, and the play process by the play unit 123 is started. When clicked again, the playback unit 123 temporarily stops the playback display of the graph. Similarly, the slow play / pause button 149 also operates the play / stop operation by the play unit 123, but the graph is played at a lower speed than when the play / pause button 148 is clicked. When the stop button 150 is clicked, the reproduction of the graph is reset, the graph returns to the start time, and the reproduction is stopped.
Here, FIG. 15 shows how the graph is being reproduced. The figure on the left of FIG. 15 shows the state of the initial stage of reproduction, and the figure on the right shows the figure of the final stage of reproduction. That is, the time in the figure on the left is ahead of that in the figure on the right. As shown in FIG. 15, when the play / pause button 148 or the slow play / pause button 149 is clicked, the waveform graph is played on the waveform graph display screens 141, 142, ... And the trajectory graph display screen 144. The locus graph is played.

Returning to FIG. 14, the description of the operation screen 147 will be continued. The operation screen 147 is provided with a start time 151, an end time 152, a slider 153, and a display time 154. Any time can be input by clicking the start time 151 and the end time 152, and the start time and the end time are set by inputting the times in these. Further, on the operation screen 147, the reproduction operation can be performed by the play / pause button 148 or the slow play / pause button 149, and the graph can be reproduced and displayed by dragging the slider 153. At the display time 154, the time of the graph being reproduced by the reproduction display is displayed, and further, among the control amounts included in the control record list 146, a line of time information indicating the time closest to this time and the corresponding control amount. Is displayed in a different display format than other lines, such as bold or highlighted.
The time of the graph being reproduced by the reproduction display corresponds to the reproduction time. Further, the list display unit 122 corresponds to the process of displaying the control record list 146 on the third display screen as described above, and the time information indicating the time closest to the reproduction time among the control amounts included in the control record list 146. The process of displaying the control amount line in a display format different from that of other lines is called a third display step.

The graph display program, the graph display device 100, and the graph display method according to the first embodiment of the present disclosure are configured as described above, and have the following effects.
The graph display program, the graph display device 100, and the graph display method sequentially display the graph related to the first control amount of the servomotor 400 at a predetermined speed, and also synchronize the graph related to the second control amount of the controlled object. Since it is displayed sequentially, it is not necessary to perform a drag operation to reproduce the graph, and it is possible to facilitate the confirmation work of the graph related to the servomotor and the graph related to the controlled object.

The graph display program, the graph display device 100, and the graph display method are a waveform graph showing the relationship between the controlled amount of the servomotor 400 and the time, and a locus graph generated based on numerical values showing the position of the controlled object in the three-dimensional space. Can be displayed in sequence in synchronization. Therefore, both the confirmation of the control state of the servomotor and the confirmation of the control state of the controlled object can be performed at the same time, and the control parameters of the servo control system can be easily adjusted.

The graph display program, the graph display device 100, and the graph display method can not only sequentially display the waveform graph and the locus graph at a predetermined speed, but also can reproduce the waveform graph and the locus graph at a speed different from the speed. Therefore, since the user can select a speed suitable for confirmation and reproduce the graph, it is possible to facilitate the confirmation work of the graph related to the servomotor and the graph related to the controlled object.

The graph display program, the graph display device 100, and the graph display method can display a waveform graph and a locus graph, and can display a list in which the control amounts used for each graph are arranged in chronological order. Therefore, the user can accurately adjust the control parameters of the servo control system by looking at the numerical values in the list while grasping the movement of the servomotor 400 or the controlled object in the graph.

In the graph display program, the graph display device 100, and the graph display method, in the list in which the control amounts used for each graph are arranged in chronological order, the control amount corresponding to the reproduction time at which the graph is being reproduced is combined with other control amounts. Can be displayed in different display formats. Therefore, it is possible for the user to more easily grasp the numerical values in the list corresponding to the graph, and it is possible to easily and accurately adjust the control parameters of the servo control system.

Here, a modified example of the graph display program, the graph display device 100, and the graph display method according to the embodiment of the present disclosure will be described and supplementary explanations will be given.
In the embodiment, an example of a transport device capable of transporting a work in three dimensions has been given as a controlled object, but a two-dimensional transport device may be used, or a device for moving a device other than the work, for example, a tool for machining. But it may be. Further, a robot arm having a plurality of drive shafts may be used.
Further, there may be a plurality of controlled objects, and there may be a plurality of controllers 200 according to the number of controlled objects or the content to be controlled. In this case, the graph display device 100 sets recording items in each controller 200 and collects recording items from each controller 200. Even when there are a plurality of controllers 200, the graph display device 100 can collectively collect the control amount and display the graph, so that the convenience of the user can be improved.
Further, even when the controllers 200 are not synchronized with each other, if the graph display device 100 is made to grasp the time difference of each controller 200, the time difference of each controller 200 can be corrected.

Further, in the embodiment, the control command value and the state quantity indicating the control result are mainly described as indicating the position, but may indicate the speed or the acceleration.

In the embodiment, the waveform graph display unit 120 and the locus graph display unit 121 display the waveform graph and the locus graph on the display unit 111, but the graph display unit 116 inputs an arbitrary graph format and axis from the user. It may be accepted and a plurality of graphs selected by the user may be displayed.

The graph display program, graph display device, and graph display method of the present disclosure can be used when adjusting the control parameters of the servo control system.

1 Servo control system, 100 graph display device, 101 arithmetic unit, 102 liquid crystal monitor, 103 keyboard, 104 mouse, 105 processor, 106 storage device, 107 interface, 108 USB cable, 111 display unit, 112 operation unit, 113 communication unit, 114 Storage unit, 115 Control amount acquisition unit, 116 Graph display unit, 120 Waveform graph display unit, 121 Trajectory graph display unit, 122 List display unit, 123 Playback unit, 130 Recording item setting screen, 131 Acquisition button, 132 Recording items List, 133 setting button, 141 waveform graph display screen, 142 waveform graph display screen, 143 waveform graph display screen, 144 trajectory graph display screen, 145 graph setting list, 146 control record list, 147 operation screen, 148 play / pause button 149 Slow play / pause button, 150 stop button, 151 start time, 152 end time, 153 slider, 154 display time, 200 controller, 201 processor, 202 storage device, 203 interface, 211 storage unit, 212 communication unit, 213 Internal clock, 214 control command unit, 215 control recording unit, 300 servo amplifier, 301 processor, 302 storage device, 303 interface, 311 storage unit, 312 communication unit, 313 internal clock, 314 positioning control unit, 315 control recording unit, 400 Servo motor, 500 communication line

Claims (5)

For each of the plurality of servomotors, the first control amount acquisition step of acquiring the control command value for the servomotor or the state amount indicating the control result of the servomotor as the first control amount together with the time information.
A second control amount acquisition step of acquiring a control command value for a control object driven by the plurality of servomotors or a state quantity indicating a control result of the control object as a second control amount together with time information.
A first display step for displaying a first display screen for displaying a first graph showing the first control amount, and a first display step.
A second display step for displaying a second display screen for displaying the second graph showing the second control amount, and a second display step.
The first graph is sequentially displayed on the first display screen at a predetermined speed from a predetermined start time to an end time based on the time information acquired together with the first control amount. A reproduction step of sequentially displaying the second graph on the second display screen in synchronization with the display of the first graph based on the time information acquired together with the second control amount.
A list in which the first control amount and the second control amount acquired in the first control amount acquisition step and the second control amount acquisition step are arranged in chronological order is displayed on the third display screen. When the first graph is sequentially displayed from the start time to the end time in the reproduction step, the first graph at the reproduction time between the start time and the end time is displayed. In addition, among the first control amounts included in the list, the first control amount whose time indicated by the time information acquired together with the first control amount is closest to the reproduction time, and the first control amount included in the list. Of the second control amount, the second control amount whose time indicated by the time information acquired together with the second control amount is closest to the reproduction time is used as the other first control amount and the second control amount. Is a third display step that displays in a different display format ,
A graph display program characterized by having a computer execute. The second controlled variable acquired in the second controlled variable acquisition step is a numerical value indicating a target or an actual position of the controlled object in each of a plurality of orthogonal directions in the space in which the controlled object is arranged. And
The first graph is a graph showing the relationship between the first control amount of the servomotor and the time.
The graph display program according to claim 1, wherein the second graph is a graph showing a locus of the controlled object generated based on a numerical value indicating the position. In the reproduction step, the first graph can be sequentially displayed at a speed different from the predetermined speed, and the user can select from the predetermined speed and the different speed. The graph display program according to claim 1 or 2, wherein the first graph is sequentially displayed at a speed selected by the user. For each of the plurality of servomotors, a first control amount acquisition unit that acquires a control command value for the servomotor or a state amount indicating the control result of the servomotor as a first control amount together with time information.
A second control amount acquisition unit that acquires a control command value for a control object driven by the plurality of servomotors or a state quantity indicating a control result of the control object as a second control amount together with time information.
A first display unit for displaying a first display screen for displaying a first graph showing the first control amount, and a first display unit.
A second display unit that displays a second display screen for displaying a second graph showing the second control amount, and a second display unit.
The first graph is sequentially displayed on the first display screen at a predetermined speed from a predetermined start time to an end time based on the time information acquired together with the first control amount. A playback unit that sequentially displays the second graph on the second display screen in synchronization with the display of the first graph based on the time information acquired together with the second control amount.
A list in which the first control amount and the second control amount acquired by the first control amount acquisition unit and the second control amount acquisition unit are arranged in chronological order is displayed on the third display screen. When the reproduction unit sequentially displays the first graph from the start time to the end time, the first graph at the reproduction time between the start time and the end time is displayed. In addition, among the first control amounts included in the list, the first control amount whose time indicated by the time information acquired together with the first control amount is closest to the reproduction time, and the first control amount included in the list. Of the second control amount, the second control amount whose time indicated by the time information acquired together with the second control amount is closest to the reproduction time is used as the other first control amount and the second control amount. Is a third display unit that displays in a different display format ,
Graph display device equipped with. A first control in which the first control amount acquisition unit acquires a control command value for the servomotor or a state amount indicating the control result of the servomotor as the first control amount together with time information for each of the plurality of servomotors. Quantity acquisition step and
A second control in which the control amount acquisition unit acquires a control command value for a controlled object driven by the plurality of servomotors or a state quantity indicating a control result of the controlled object as a second control amount together with time information. Quantity acquisition step and
A first display step in which the first display unit displays a first display screen for displaying a first graph showing the first control amount, and a first display step.
A second display step in which the second display unit displays a second display screen for displaying the second graph showing the second control amount, and
The reproduction unit displays the first graph at a predetermined speed on the first display screen from a predetermined start time to an end time based on the time information acquired together with the first control amount. A reproduction step of sequentially displaying the second graph in synchronization with the display of the first graph on the second display screen based on the time information acquired together with the second control amount. ,
The third display unit sets a list in which the first control amount and the second control amount acquired in the first control amount acquisition step and the second control amount acquisition step are arranged in chronological order. When the first graph is sequentially displayed from the start time to the end time in the reproduction step, the first graph is displayed at the reproduction time between the start time and the end time. When the graph is displayed, the time indicated by the time information acquired together with the first control amount among the first control amounts included in the list is the first control amount closest to the reproduction time. , The second control amount whose time indicated by the time information acquired together with the second control amount among the second control amounts included in the list is the closest to the reproduction time, and the other first control amount. And a third display step that displays in a display format different from the second control amount ,
Graph display method with.

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