WO2015068214A1 - トレースデータ収集システム、コントローラ、モータ制御装置、操作端末及びトレースデータ収集方法 - Google Patents
トレースデータ収集システム、コントローラ、モータ制御装置、操作端末及びトレースデータ収集方法 Download PDFInfo
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- WO2015068214A1 WO2015068214A1 PCT/JP2013/079947 JP2013079947W WO2015068214A1 WO 2015068214 A1 WO2015068214 A1 WO 2015068214A1 JP 2013079947 W JP2013079947 W JP 2013079947W WO 2015068214 A1 WO2015068214 A1 WO 2015068214A1
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- trace
- trace data
- start signal
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- 238000013480 data collection Methods 0.000 title claims abstract description 66
- 238000000034 method Methods 0.000 title claims description 6
- 230000008054 signal transmission Effects 0.000 claims abstract description 44
- 230000002123 temporal effect Effects 0.000 claims description 2
- 238000013500 data storage Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 9
- 238000005259 measurement Methods 0.000 description 9
- 238000005070 sampling Methods 0.000 description 6
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000010365 information processing Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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- 238000011895 specific detection Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
- G05B19/4063—Monitoring general control system
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/409—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4183—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by data acquisition, e.g. workpiece identification
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/06—Linear motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P31/00—Arrangements for regulating or controlling electric motors not provided for in groups H02P1/00 - H02P5/00, H02P7/00 or H02P21/00 - H02P29/00
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31282—Data acquisition, BDE MDE
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/47—Tracing, tracking
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50206—Tool monitoring integrated in nc control
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Definitions
- the present invention relates to a trace data collection system, a controller, a motor control device, an operation terminal, and a trace data collection method.
- Patent Document 1 the motor current value of the servo control device is written to the memory of the positioning device by pressing the key switch of the setting display, and the motor peak current is calculated from the motor current value stored in the memory.
- a load status display device is described.
- the problem to be solved by the present invention is to accurately control the collection timing of the trace data by the motor control device.
- a trace data collection system is a trace data collection system including a motor control device that controls a motor and a controller that controls the motor control device, and the controller sends a trace start signal.
- a trace start signal transmission determination unit for determining a condition to perform, and a trace start signal transmission unit for transmitting the trace start signal, and the motor control device includes a trace start signal reception unit for receiving the trace start signal;
- a trace start determination unit that can at least receive the trace start signal as a trace start condition; and a first trace data collection unit that collects first trace data related to the motor when the start condition is satisfied Have.
- the controller may further include a second trace data collection unit that collects second trace data regarding the motor.
- the trace start signal transmission determination unit further includes a temporal condition of the first trace data with respect to the second trace data as a condition for transmitting the trace start signal. Relative relationships may be used.
- the trace start signal transmission determination unit is any one of at least the start of collection of the second trace data and the collected second trace data. Based on the above, it may be possible to determine a condition for sending the trace start signal.
- the second trace data collection unit further includes the second trace data collection unit during the collection of the first trace data by the first trace data collection unit. Trace data may be collected.
- the trace data collection system further includes a graph display unit that displays at least the second trace data in a graph, and a condition for transmitting the trace start signal on the graph of the second trace data.
- An operation terminal having a trace start signal transmission condition setting unit to be set may be provided.
- the graph display unit may display the first trace data and the second trace data in a graph on the same time axis.
- the trace start signal sending unit may send the trace start signal to a plurality of the motor control devices.
- the operation terminal further assigns at least one of the plurality of first trace data and the plurality of second trace data to a plurality of intersecting axes, and a trajectory. May be provided.
- the controller includes a trace start signal transmission determination unit that determines a condition for transmitting a trace start signal, and a trace start signal transmission unit that transmits the trace start signal.
- the motor control device includes a trace start signal receiving unit that receives a trace start signal, a trace start determination unit that can at least receive the trace start signal as a trace start condition, A trace data collection unit for collecting trace data relating to the motor.
- an operation terminal includes a graph display unit that displays at least second trace data collected by the controller, and a motor control device that collects the second trace data on the graph of the second trace data.
- a trace start condition setting unit for setting a condition for starting the collection of the first trace data.
- the trace data collection method includes a step in which a controller determines a condition for sending a trace start signal, a step in which the controller sends the trace start signal, and a motor control device starts the trace start.
- the inventor of the present invention may be required to collect motor trace data at a specific timing in a series of operations of a mechanical system using a motor.
- the trace data is collected by the motor control device, since the control cycle of the motor control device is short (usually about several tens to several hundreds ⁇ s), detailed data with a short measurement interval can be obtained.
- the capacity of the memory mounted on the motor control device is not so large, the period during which the trace data is obtained is shortened. Therefore, it is difficult to accurately collect trace data at the required timing.
- FIG. 1 is a schematic diagram showing an example of a trace data collection system 1 according to an embodiment of the present invention.
- a controller 2 motor control devices 3a and 3b, motors 4a and 4b (shown as a drive source of the linear slider in the figure), and an operation terminal 5 are shown.
- the controller 2 is a device that controls various machine elements including the motor control devices 3a and 3b.
- the controller 2 executes an arbitrary machine control program, for example, a ladder program or a time chart, thereby causing the various machine elements connected to execute a predetermined operation.
- a PLC Programmable Logic Controller
- a sequencer is used. It may be a device known as a motion controller.
- the motor control devices 3a and 3b are devices in which an amplifier that supplies electric power for operating the motors 4a and 4b and a control circuit thereof are integrated.
- the types of the motors 4a and 4b are not particularly limited, but in the present embodiment, the motors 4a and 4b are servo motors, and the motor control devices 3a and 3b are devices generally known as servo controllers or servo amplifiers. is there.
- the operation terminal 5 is an information processing apparatus that accepts input from the user and transmits it to the controller 2, acquires information from the controller 2, and displays it to the user.
- the operation terminal 5 may be a general personal computer installed with necessary applications as appropriate.
- the devices constituting the trace data collection system 1 are connected to each other as shown in FIG. It should be noted that the operation terminal 5 and the controller 2 need only be connected when necessary, and are not necessarily always connected, and between the operation terminal 5 and the controller 2, and between the controller 2 and the motor control device 3a. , 3b is not necessarily a direct connection, it may be a connection through an appropriate network, and it does not matter whether it is wired or wireless.
- FIG. 2 is a block diagram showing a physical configuration of the operation terminal 5.
- the operation terminal 5 is a general computer and includes a CPU (Central Processing Unit) 5a, a RAM (Random Access Memory) 5b, an external storage device 5c, a GC (Graphics Controller) 5d, an input device 5e, and an I / O (Inpur / Output). ) 5f are connected to each other via the data bus 5g so as to exchange electric signals.
- the external storage device 5c is a device capable of recording information statically, such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive).
- a signal from the GC 5d is output to a monitor 5h such as a CRT (Cathode Ray Tube) or a so-called flat panel display, where the user visually recognizes the image, and displayed as an image.
- the input device 5e is a device for a user to input information, such as a keyboard, a mouse, and a touch panel
- the I / O 5f is an interface for the operation terminal 5 to exchange information with an external device, here, the controller 2. is there.
- An application to be executed on the operation terminal 5 is installed in the external storage device 5c, read to the RAM 5b as necessary, and executed by the CPU 5a.
- connection mode the type of connector, the type and number of devices to be controlled are not particularly limited, and various modifications are possible.
- FIG. 3 is a functional block diagram of the trace data collection system 1.
- the controller 2 includes a machine control program execution unit 20 that executes a machine control program, a trace start signal transmission condition storage unit 21, a trace start signal transmission determination unit 22, a trace start signal transmission unit 23, and a second trace data collection unit 24.
- a trace data storage unit 25 and an interface 26 are included.
- the motor control devices 3a and 3b include a control command execution unit 30, a motor control unit 31, a trace start signal reception unit 32, a trace start condition storage unit 33, a trace start determination unit 34, and a first trace data collection, respectively.
- a unit 35, a trace data storage unit 36, and an interface 37 are included.
- the operation terminal 5 includes a trace start signal transmission condition setting unit 50, a graph display unit 51, a locus display unit 52, and an interface 53.
- Each function block shown in FIG. 3 mainly executes a predetermined program on an information processing apparatus such as a processor mounted on each device shown in the figure, or stores a predetermined program in a memory mounted on each device. This is virtually realized by assigning an area for storing the information, and individually showing each device shown in FIG.
- the machine control program execution unit 20 executes a machine control program such as a ladder program or a time chart, and sends a control command to each device according to the description of the machine control program. As each device operates according to the control command, the trace data collection system 1 performs the operation as intended as a whole.
- a machine control program such as a ladder program or a time chart
- the trace start signal transmission condition storage unit 21 is a part for storing a trace start signal transmission condition, which is a condition for transmitting a signal for instructing the motor control devices 3a and 3b to start a trace.
- the trace start signal transmission condition is set by a trace start signal transmission condition setting unit of the operation terminal 5 described later.
- the trace start signal transmission determination unit 22 determines whether or not the trace start signal transmission condition stored in the trace start signal transmission condition storage unit is satisfied, and when it is determined that the trace start signal transmission condition is satisfied, the trace start signal transmission unit 23 And a part for instructing to send a trace start signal.
- the trace start signal sending unit 23 sends a trace start signal to the motor control devices 3a and 3b that should start the trace in response to a command from the trace start signal sending judgment unit 22.
- the trace in the motor control devices 3a and 3b is started with this trace start signal as a trigger.
- the trace means an operation of collecting trace data
- the trace data is information on the motor, and is information obtained by collecting information that changes with time over a predetermined period.
- the trace data may relate to the motor position, speed, difference from the command value, current value, and the like.
- the position and speed of the motor may be related to the rotation angle of the motor shaft, or may be the position and speed of the slider connected to the motor shaft.
- the motor is a linear motor
- the position and speed of the motor are the same as the position and speed of the slider.
- the trace data includes first trace data collected by the motor control devices 3a and 3b and second trace data collected by the controller 2, as will be described later.
- the second trace data collection unit 24 is a part that collects trace data related to the designated motor and stores it in the trace data storage unit 25 as second trace data.
- the second trace data collection unit 24 may collect the second trace data independently, or may collect a plurality of them simultaneously.
- the trace data storage unit 25 stores the second trace data collected by the second trace data collection unit 24.
- the control command execution unit 30 is a part that performs an appropriate command to the motor control unit 31 based on the control command sent out by the machine control program execution unit 20 to operate the motor.
- the motor control unit 31 includes an amplifier for driving the motor and other necessary electric circuits, controls the electric power input to the motor based on a command from the control command execution unit 30, and drives the motor as intended.
- the trace start signal receiving unit 32 is a part that receives the trace start signal sent from the trace start signal sending unit 23 and transmits it to the trace start determining unit 34.
- the trace start condition storage unit 33 stores a trace start condition that is a condition for the motor control devices 3a and 3b to start tracing.
- the trace start condition storage unit 33 stores at least a trace start signal from the controller as a condition.
- the trace start determination unit 34 determines whether or not the trace start condition stored in the trace start condition storage unit 33 is satisfied. When it is determined that the trace start condition is satisfied, the trace start determination unit 34 starts tracing to the first trace data collection unit. It is a part to be made. When a plurality of trace start conditions are stored in the trace start condition storage unit 33, it may be selected to use any one or more of them. Such selection may be made by designation by the user through the operation terminal 5.
- the first trace data collection unit 35 is a part that collects the trace data designated by the motor control unit 31 and stores it in the trace data storage unit 36 as the first trace data.
- the first trace data collection unit 35 may also collect the first trace data alone or may collect a plurality of them simultaneously.
- the trace data storage unit 36 stores the first trace data collected by the first trace data collection unit 35.
- the trace data is generally a set of specific detection values measured at regular intervals, and the cycle depends on the operation cycle of the device for which the trace data is to be collected.
- the first trace data since the first trace data is collected by the motor control devices 3a and 3b having a short control cycle, the first trace data becomes detailed data with a short measurement interval, while the data amount per unit time is large and the trace data is stored. Since the capacity of the portion 36 is not large, the measurement period is short.
- the second trace data is collected by the controller 2 having a long control cycle, the measurement interval is longer than that of the first trace data and the details cannot be known, but the measurement period is long. It will be a thing.
- the trace start signal transmission condition setting unit 50 is a part for setting the trace start signal transmission condition stored in the trace start signal transmission condition storage unit 21. Specifically, an appropriate GUI (Graphical User Interface) may be displayed on the monitor 5h of the operation terminal 5 so that the user can make an appropriate input from the input device 5e.
- GUI Graphic User Interface
- the graph display unit 51 is a part that displays the trace data as a graph on the monitor 5h by plotting the trace data with respect to the time axis.
- the trace data used here may be either or both of the first trace data stored in the storage unit 36 and the second trace data stored in the trace data storage unit 25. In the present embodiment, both are the same.
- the locus display unit 52 is a portion that displays the locus of the trace data on the monitor 5h by assigning and plotting a plurality of trace data to a plurality of intersecting axes. It is preferable that the user can appropriately select which trace data is assigned to which axis.
- the number of axes that can be used is 2 or 3, and the former is two-dimensional display and the latter is three-dimensional display. In the case of three-dimensional display, the trajectory displayed on the monitor 5h is appropriately operated. It is good to be able to rotate and display arbitrarily.
- FIG. 3 will be referred to as appropriate.
- FIG. 4 is a flow chart for collecting trace data.
- a machine control program is executed by the machine control program execution unit 20 of the controller 2 (step ST1).
- the execution of the machine control program may be performed by inputting an appropriate signal from the outside to the controller 2 or may be instructed by operating the operation terminal 5.
- the motor control devices 3a and 3b perform the determined operation, and the motor is driven (step ST2).
- the second trace data collecting unit 24 of the controller 2 collects the second trace data and stores it in the trace data storage unit 25 during the driving of the motor (step ST3).
- the start timing of the second trace data may be arbitrarily set, for example, may be started simultaneously with the execution of the machine control program, or may be started after a predetermined time has elapsed from the start timing, or any signal or You may make it start by the change of a parameter, and a user's instruction. However, it is desirable that substantially the same data is obtained even when the second trace data is repeatedly collected. For this purpose, it is desirable that the start timing of the second trace data is automatically determined.
- the second trace data stored in the trace data storage unit 25 is transmitted to the operation terminal 5 and displayed by the graph display unit 51 (step ST4).
- the setting unit 50 sets the trace start signal transmission condition.
- the set trace start signal transmission condition is stored in the trace start signal transmission condition storage unit 21 of the controller 2 (step ST5).
- FIG. 5 is a diagram illustrating a state in which the second trace data is displayed by the graph display unit 51.
- the collected second trace data 101 is plotted in the graph display area 100 shown in FIG.
- the horizontal axis is time
- the vertical axis is speed as an example.
- the trace start signal transmission condition setting unit 50 sets the trace start signal transmission condition on this graph.
- an appropriate input device is used.
- the timing (A in the figure) for starting the collection of the first trace data the period 103 during which the first trace data is collected is shown on the graph.
- the condition at this time is expressed based on the start of collection of the second trace data 101, that is, the time from the collection start time.
- the condition that can be set by the trace start signal transmission condition setting unit 50 is not limited to time, and may be other conditions. Therefore, as shown in FIG. 5, a condition designation field 104 for designating a condition is provided.
- the condition designation field 104 is a so-called pull-down menu here, and a suitable item can be selected from the prepared conditions.
- the width of the period 103 is equal to the period during which the first trace data can be collected, but this may be variable. Further, the maximum value of this period is determined by the sampling period of the first trace data and the memory capacity of the motor control devices 3a and 3b, and the data sampling period coincides with the control period of the motor control devices 3a and 3b.
- the sampling period may be varied as necessary.
- the fineness of the first trace data is reduced by setting the data sampling cycle to an integral multiple of the control cycle, but the collection period can be extended.
- a magnification designation field 105 for designating a magnification of the sampling period with respect to the control period is provided so that the sampling period can be varied.
- FIG. 6 is a diagram showing an example in which the trace start signal transmission condition setting unit 50 sets a trace start signal transmission condition different from that in FIG. 5 on the graph.
- “upper limit” is designated in the condition designation column 104, which means a condition for collecting the first trace data when the first trace data exceeds the designated threshold value.
- This threshold value is determined by designating an arbitrary position in the graph, for example, point B, and the threshold value is shown in the graph as a broken line 106.
- “lower limit” a condition for collecting the first trace data when the first trace data falls below the specified threshold value may be set. In these cases, the condition is represented by the magnitude of the value based on the collected second trace data 101.
- the trace start signal transmission conditions are not limited to the timing shown in FIG. 5 (time from the collection start time) and the thresholds such as the upper limit and lower limit of the trace target shown in FIG. 6, and various conditions should be used.
- the motor position can also be used.
- the timing is used as the condition, for example, since the start condition can be uniquely determined, it is possible to prevent the collection of trace data during an unintended period, and the plurality of firsts in each of the plurality of motor control devices.
- the trace data can be synchronized.
- the trace start signal transmission determination unit 22 determines that the trace start signal transmission condition is satisfied during the collection of the second trace data, and the trace start signal transmission unit 23 transmits the trace start signal.
- the trace start determination unit 34 of the control devices 3a and 3b receives the trace start signal reception unit 32, determines that the trace start condition is satisfied, and the first trace data collection unit 35 collects the first trace data. (ST10) and stored in the trace data storage unit 36.
- the collection period of the first trace data overlaps with the collection period of the second trace data. Therefore, at least the second trace data is collected during the collection of the first trace data.
- the collected first trace data and second trace data are transmitted to the operation terminal 5 and displayed by the graph display unit 51 (step ST11). At this time, the first trace data and the second trace data are displayed in a graph on the same time axis.
- FIG. 7 is a diagram showing a state in which the first trace data and the second trace data are simultaneously displayed by the graph display unit 51.
- the second trace data is plotted on the same time axis by the solid line 101, and the first trace data collected in the section 102 is plotted by the broken line 107.
- This relative position can be determined by any method, but it can be easily realized by, for example, recording the time from the start time of the second trace data at the start time of the first trace data. Is possible.
- the graph display unit 51 can enlarge and display an appropriate section of the plotted graph.
- FIG. 8 is an example in which the section 102 in FIG. 7 is enlarged and displayed. In this way, by displaying the second trace data plot 101 and the first trace data plot 107 on the same time axis, a detailed trace data waveform that is unknown only by the second trace data can be obtained. Can be observed.
- step ST10 when collecting the first trace data in step ST10, the second trace data is collected again as shown in step ST9. This is because the first trace data is collected.
- the same second trace data is not always obtained due to the influence of the disturbance acting on the trace data collection system 1. This is because there is not.
- the user compares the status of the motor during the measurement time in which the operation of the actual device in which the motor is used is reflected by the second trace data. Can be grasped at rough measurement intervals. Thereafter, the user can easily specify an operation period in which it is necessary to grasp the state of the motor in detail in the measurement time. Further, the user can grasp the detailed situation of the motor during the specified operation period by using the first trace data.
- the grasp of the situation in a series of these users has been performed by iterative processing or estimation because each process is not linked, but according to the trace data collection system 1 of the present embodiment, It can be executed seamlessly and reliably.
- first trace data and the second trace data have been described as being independent for the sake of simplicity, but a plurality of first trace data and a plurality of second trace data are collected. You may make it do.
- the plurality of trace data thus obtained may be plotted on the time axis by the graph display unit 51 or may be displayed as a trajectory by the trajectory display unit 52.
- the same effect is obtained as in the above, in which a plurality of first trace data and a plurality of second trace data can be traced correctly. I can do things. Further, in the following, advantages of displaying as a locus will be described.
- FIG. 9 is a diagram illustrating a state in which a trajectory is displayed by the trajectory display unit 52.
- a trajectory display area 108 shown in the figure a plurality of intersecting axes, here, the orthogonal X axis and Y axis are shown.
- the display data selection field 109 allows selection of trace data to be assigned to each axis.
- the display data selection field 109 is a so-called pull-down menu, and the trace data collected so far can be selected from a list.
- the position of the motor 4a is selected for the X axis and the position of the motor 4b is selected for the Y axis.
- the motor 4a and the motor 4b are arranged so as to operate a so-called XY stage orthogonal to each other, and the operation is intended to perform a circular motion.
- a trajectory 110 as shown in FIG. 9 is obtained. be painted. From this trajectory 110, it is possible to easily confirm how accurately the motors 4a and 4b are following the intended operation. In the example shown in the figure, it can be confirmed that a positional deviation has occurred at a position where the trajectory 110 intersects the X axis and the Y axis.
- trajectory displayed by the trajectory display unit 52 is shown in two dimensions as being about two axes, another axis may be added to perform three-dimensional display. At this time, the trajectory is plotted in a three-dimensional space, but it is preferable that the trajectory can be arbitrarily rotated on the screen and observed by an appropriate operation on the operation terminal 5.
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Abstract
Description
<実施形態に係るトレースデータ収集システム>
<トレースデータ収集システムによるトレースデータ収集フロー>
Claims (13)
- モータを制御するモータ制御装置と、前記モータ制御装置を制御するコントローラとを備えるトレースデータ収集システムであって、
前記コントローラは、
トレース開始信号を送出する条件を判定するトレース開始信号送出判定部と、
前記トレース開始信号を送出するトレース開始信号送出部と、
を有し、
前記モータ制御装置は、
前記トレース開始信号を受信するトレース開始信号受信部と、
少なくとも前記トレース開始信号の受信をトレースの開始条件とすることができるトレース開始判定部と、
前記開始条件を満たすと、前記モータに関する第1のトレースデータを収集する第1のトレースデータ収集部と、
を有するトレースデータ収集システム。 - 前記コントローラは、前記モータに関する第2のトレースデータを収集する第2のトレースデータ収集部をさらに有する請求項1に記載のトレースデータ収集システム。
- 前記トレース開始信号送出判定部は、前記トレース開始信号を送出する条件として、前記第2のトレースデータに対する前記第1のトレースデータの時間的な相対関係を使用する請求項2に記載のトレースデータ収集システム。
- 前記トレース開始信号送出判定部は、少なくとも、前記第2のトレースデータの収集の開始、及び、収集された前記第2のトレースデータのいずれかに基いて、前記トレース開始信号を送出する条件を判定することができる請求項2又は3に記載のトレースデータ収集システム。
- 前記第2のトレースデータ収集部は、少なくとも、前記第1のトレースデータ収集部による前記第1のトレースデータの収集中に、前記第2のトレースデータを収集する請求項2~4のいずれかに記載のトレースデータ収集システム。
- 少なくとも前記第2のトレースデータをグラフ表示するグラフ表示部と、
前記第2のトレースデータのグラフ上で、前記トレース開始信号を送出する条件を設定するトレース開始信号送出条件設定部と、
を有する操作端末を備えた請求項2~5のいずれかに記載のトレースデータ収集システム。 - 前記グラフ表示部は、前記第1のトレースデータと前記第2のトレースデータを同一の時間軸上にグラフ表示する請求項6に記載のトレースデータ収集システム。
- 前記トレース開始信号送出部は、複数の前記モータ制御装置に対して前記トレース開始信号を送出する請求項1~7のいずれかに記載のトレースデータ収集システム。
- 前記操作端末は、複数の前記第1のトレースデータ及び複数の前記第2のトレースデータの少なくともいずれかを複数の交差する軸に割り当て、軌跡を表示する軌跡表示部を有する請求項6又は7に記載のトレースデータ収集システム。
- トレース開始信号を送出する条件を判定するトレース開始信号送出判定部と、
前記トレース開始信号を送出するトレース開始信号送出部と、
を有するコントローラ。 - トレース開始信号を受信するトレース開始信号受信部と、
少なくとも前記トレース開始信号の受信をトレースの開始条件とすることができるトレース開始判定部と、
前記開始条件を満たすと、モータに関するトレースデータを収集するトレースデータ収集部と、
を有するモータ制御装置。 - 少なくともコントローラにより収集される第2のトレースデータをグラフ表示するグラフ表示部と、
前記第2のトレースデータのグラフ上で、モータ制御装置により収集される第1のトレースデータの収集を開始する条件を設定するトレース開始条件設定部と、
を有する操作端末。 - コントローラがトレース開始信号を送出する条件を判定するステップと、
前記コントローラが前記トレース開始信号を送出するステップと、
モータ制御装置が前記トレース開始信号を受信するステップと、
前記モータ制御装置が前記トレース開始信号の受信をトレースの開始条件としてトレース開始を判定するステップと、
前記開始条件を満たすと、前記モータ制御装置がモータに関する第1のトレースデータを収集するステップと、
を有するトレースデータ収集方法。
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EP13897100.7A EP3068038B1 (en) | 2013-11-05 | 2013-11-05 | Trace data collection system, controller, motor control device, operation terminal, and trace data collection method |
JP2015546183A JP6288104B2 (ja) | 2013-11-05 | 2013-11-05 | トレースデータ収集システム、操作端末、及びトレースデータ収集方法 |
PCT/JP2013/079947 WO2015068214A1 (ja) | 2013-11-05 | 2013-11-05 | トレースデータ収集システム、コントローラ、モータ制御装置、操作端末及びトレースデータ収集方法 |
US15/140,473 US10248090B2 (en) | 2013-11-05 | 2016-04-28 | Trace data collection system, controller, motor control device, operation terminal, and trace data collection method |
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