WO2019151183A1 - Setting assistance device and setting assistance program - Google Patents

Setting assistance device and setting assistance program Download PDF

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Publication number
WO2019151183A1
WO2019151183A1 PCT/JP2019/002751 JP2019002751W WO2019151183A1 WO 2019151183 A1 WO2019151183 A1 WO 2019151183A1 JP 2019002751 W JP2019002751 W JP 2019002751W WO 2019151183 A1 WO2019151183 A1 WO 2019151183A1
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WIPO (PCT)
Prior art keywords
value
parameter
filter
index value
setting
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PCT/JP2019/002751
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French (fr)
Japanese (ja)
Inventor
悌 大野
守 恵木
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オムロン株式会社
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Publication of WO2019151183A1 publication Critical patent/WO2019151183A1/en

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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
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • 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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors

Definitions

  • the present invention relates to a setting support device and a setting support program for supporting the setting of a position command filter in a servo driver.
  • various settings for the position command filter can be performed relatively easily.
  • the user cannot grasp the demerits such as the delay of the position command caused by the change of the filter setting. Therefore, when the above technique is used, it may occur that the delay time of the position command becomes too long and the filter setting needs to be performed again.
  • the present invention has been made in view of the above problems, and an object of the present invention is to provide a setting support device and a setting support program capable of setting a position command filter in consideration of disadvantages.
  • a setting support device (hereinafter also referred to as a first setting support device) is a position command filter in a servo driver including a first filter having a first parameter.
  • a setting support apparatus for supporting setting wherein the servo driver, a servo motor controlled by the servo driver, and a measurement unit that measures response characteristics of a servo system including a driven body driven by the servo motor; The servo in a plurality of situations in which the value of the first parameter is different based on the response characteristic of the servo system measured by the measuring means and information indicating the operation state of the first filter at the time of measurement of the response characteristic.
  • the first setting support device gives the user a relationship between the first index value (overshoot amount index value) and the second index value (position command time delay amount index value by the position command filter).
  • the graph which shows is shown and it has the structure which makes a user designate the value set to the 1st parameter of the 1st filter in a position command filter. Therefore, if this first setting support device is used, the user can set the position command filter in consideration of the disadvantages.
  • a setting support apparatus (hereinafter also referred to as a second setting support apparatus) according to another aspect of the present invention includes a first filter having a first parameter and a second filter having a second parameter.
  • a setting support apparatus for supporting setting of a position command filter of a servo system which measures response characteristics of a servo system including the servo driver, a servo motor controlled by the servo driver, and a driven body driven by the servo motor Based on the measurement means, the response characteristic of the servo system measured by the measurement means, and the information indicating the operation state of the first filter at the time of measurement of the response characteristic, and the first parameter value and the first parameter Simulating the response characteristics of the servo system in a plurality of situations where the combinations of the two parameter values are different from each other; Based on the simulation result of the response characteristic of the servo system in the situation, the first index value that is the index value of the overshoot amount in each situation and the second index that is the index value of the time delay amount of the
  • the second setting support device provides the user with the first image information indicating the relationship between the first parameter value, the combination of the second parameter value, and the first index value, and the first parameter.
  • Second image information indicating a relationship between a combination of the value of the second parameter and the value of the second parameter and the second index value can be presented. Therefore, if this second setting support apparatus is used, the user can set the two filters in the position command filter in consideration of the disadvantages.
  • the actual setting to the position command filter may be performed using another device.
  • the third and fourth image information is displayed on the screen of the display on the second setting support device so that the position command filter can be set only by an operation on the second setting support device.
  • the user is allowed to specify the first setting value and the second setting value, and the specified first setting value and the second setting value are respectively set to the first parameter of the first filter, the second setting value.
  • the display control means of the second setting support device reads: “As the first image information, the value of the first parameter and the value of the second parameter are one of the vertical axis and the horizontal axis, respectively, A first contour diagram representing the first index value in color or luminance is displayed, and the first parameter value and the second parameter value in the vertical axis and the horizontal axis, respectively, are used as the second image information.
  • a means for displaying the second contour diagram representing the second index value in color or luminance as the other may be used.
  • the setting means reads: “The value of the first parameter corresponding to the position on the first contour diagram or the second contour diagram designated by the user, the second parameter value It may be a means that handles values as the first set value and the second set value, respectively.
  • the specifying means of the second setting support device is: “Furthermore, the first filter value and the second index value in one or more situations where the first filter is disabled, and the second filter is disabled. Means for specifying the first index value and the second index value in one or more situations ”.
  • the second setting support device may include a response characteristic of the servo system measured by the measurement unit when the driven body is in the first state, and the first filter at the time of measuring the response characteristic. Based on the information indicating the operating state, the first index value and the second index value in each of the plurality of situations specified by the specifying means, and the state of the driven body is the first state Is specified by the specifying means based on the response characteristics of the servo system measured by the measuring means when in different second states and information indicating the operating state of the first filter at the time of measuring the response characteristics.
  • Second display control means for displaying fourth image information indicating a relationship between a combination of the first parameter value, the second parameter value, and the worst value of the second index value may be added. good.
  • the second display control means is added to the second setting support device, the value of the first parameter is further displayed to the user while the third and fourth image information is displayed on the screen of the display.
  • the value of the second parameter is designated, and the value of the designated first parameter and the value of the second parameter are designated as the first parameter of the first filter and the second value of the second filter, respectively. You may add the 2nd setting means set to a parameter.
  • the first filter and the second filter in the position command filter may be a low-pass filter and a vibration suppression filter, respectively, and both the first filter and the second filter may be vibration suppression filters.
  • the damping filter is a filter (notch filter or the like) that suppresses fluctuation of the load by shaping a command value and removing a specific frequency.
  • the measuring means of the first and second setting support devices includes the position, speed and acceleration of the motor and the position, speed and acceleration of the driven body as a response to the position command. Any of them may be measured. Further, gain adjusting means for adjusting the gain of the servo driver may be added to the first and second setting support devices.
  • a setting support program is a setting support program for supporting setting of a position command filter in a servo driver, including a first filter having a first parameter, which is stored in a computer connected to the servo driver.
  • a measuring step for measuring a response characteristic of a servo system including the servo driver, a servo motor controlled by the servo driver, and a driven body driven by the servo motor, and the servo system measured by the measuring step , And information indicating the operating state of the first filter at the time of measurement of the response characteristic, the response characteristic of the servo system in a plurality of situations where the value of the first parameter is different, Simulate the response characteristics of the servo system in the situation
  • a specifying step for specifying a first index value that is an index value of an overshoot amount in each situation and a second index value that is an index value of a time delay amount of the position command by the position command filter;
  • a graph showing a relationship between the first index value and the second index value
  • a setting support program is a setting support program that supports setting of a position command filter in a servo driver, which includes a first filter having a first parameter and a second filter having a second parameter.
  • a measuring step of measuring response characteristics of a servo system including the servo driver, a servo motor controlled by the servo driver, and a driven body driven by the servo motor in a computer connected to the servo driver; And the value of the first parameter and the value of the second parameter based on the response characteristic of the servo system measured in the measurement step and information indicating the operating state of the first filter at the time of measurement of the response characteristic.
  • the servo system in a plurality of situations with different combinations of values.
  • the response characteristic is simulated, and based on the simulation result of the response characteristic of the servo system in each situation, the first index value that is the index value of the overshoot amount in each situation and the time delay amount of the position command by the position command filter
  • a specifying step of specifying a second index value that is an index value of the first parameter value, and the first parameter value on the display screen based on the first index value and the second index value in each situation specified by the specifying step First image information indicating a relationship between a combination of the first parameter value and the second parameter value and the first index value, and a combination of the first parameter value and the second parameter value and the second index
  • a display control step for displaying second image information indicating a relationship between the values.
  • the setting support program according to each aspect of the present invention is executed by a computer connected to the servo driver, the user can set the position command filter in consideration of the disadvantages.
  • FIG. 1 shows a usage pattern of a setting support apparatus 10 according to an embodiment of the present invention.
  • the setting support apparatus 10 according to the present embodiment is an apparatus that is used by being connected to the servo driver 20.
  • the servo driver 20 to which the setting support device 10 is connected includes a nonvolatile memory 21, a motor drive circuit 22, and a control unit 23.
  • the motor drive circuit 22 is a circuit that supplies a drive current to the motor 41 under the control of the control unit 23.
  • the control unit 23 is a unit composed of a processor (microcontroller, CPU, etc.) and its peripheral elements.
  • the main process executed by the control unit 23 is a motor control process for controlling the motor 41 (motor drive circuit 22) in accordance with a position command input from an external device such as a PLC.
  • the control unit 23 is configured (programmed) so that other processes can also be executed.
  • the nonvolatile memory 21 is a nonvolatile memory capable of rewriting data, such as EEPROM (ElectricallyEErasable and Programmable Read Only Memory).
  • the nonvolatile memory 21 stores various parameters used by the control unit 23 during motor control processing.
  • control unit 23 and the nonvolatile memory 21 of the servo driver 20 will be described more specifically.
  • FIG. 2 the functional block diagram regarding the motor control processing function of the control part 23 is shown.
  • the control unit 23 is configured (programmed) to function as a unit including a position command filter 31, a position controller 33, a speed controller 35, a current controller 36, and a speed detector 37. ing.
  • the position command filter 31 is a digital filter for filtering the position command. As shown in FIG. 3, the position command filter 31 includes a low-pass filter 31a, a damping filter 31b, and a damping filter 31c connected in series. Note that the vibration suppression filter 31b is a filter (for example, a notch filter) that suppresses fluctuation of the load by shaping a command value and removing a specific frequency.
  • the position controller 33 (FIG. 2) is a speed corresponding to a deviation between the position command filtered by the position command filter 31 and the position of the motor 41 (position of the rotating shaft of the motor 41) detected by the encoder 43.
  • the speed detector 37 is a unit that detects the speed of the motor 41 by differentiating the position of the motor 41 detected by the encoder 43.
  • the speed controller 35 is a unit that generates a current command corresponding to a deviation between the speed command generated by the position controller 33 and the speed detected by the speed detector 37.
  • the current controller 36 is a unit that generates a control signal (in this embodiment, a PWM signal) for supplying a current according to a current command from the speed controller 35 to the motor 41 and supplies it to the motor drive circuit 22. is there.
  • the nonvolatile memory 21 stores set values of parameters (center frequency, cutoff frequency, etc.) of each filter, and whether each filter is used (whether each filter is enabled or disabled). Yes.
  • the nonvolatile memory 21 also stores parameters (position proportional gain, speed proportional gain, etc.) relating to the position controller 33 and the speed controller 35, and the control unit 23 includes a position command filter 31, a position controller 33, and the like. The content of the processing to be actually performed is determined based on the information stored in the nonvolatile memory 21.
  • the control unit 23 also performs a motor control process while returning the position detected by the encoder 43 to an external device that is a position command supply source, units requested by the external device (filters 31a to 31c, position control).
  • a function of returning information on the non-volatile memory 21 to the external device, a function of rewriting information on the non-volatile memory 21 about the unit designated by the external device to information designated by the external device, etc. also have.
  • FIG. 4 shows a configuration of the setting support apparatus 10 according to the present embodiment.
  • the setting support apparatus 10 is configured to load a setting support program from the CD-ROM 18 into a computer including a communication interface (communication I / F) for communicating with the CPU 11, the HDD 12, and the servo driver 20. 15 is a device installed.
  • FIG. 5 shows a flowchart of the setting support process executed by the CPU 11 in accordance with the setting support program 15.
  • the CPU 11 performs a process of displaying a menu screen on the display (step S102).
  • the menu screen displayed in the process of this step is basically a screen for allowing the user to select which of the first to third setting processes and the gain adjustment process is to be executed.
  • the second and third setting processes are processes that require the two filters 31x in the position command filter 31 to be designated as processing target filters.
  • the first to third designation processes are processes that can designate whether or not to perform simulation even when the position command filter is invalid. Therefore, an item for setting such information is also provided on the menu screen.
  • step S101 the CPU 11 waits for an instruction to execute any setting process or an instruction to end the setting support process (the process in FIG. 5) to be input by operating the input device (keyboard, mouse, etc.). (Step S103).
  • step S104 When an execution instruction for any one of the first to third setting processes and the gain adjustment process is input (step S104; execution instruction), the CPU 11 executes the process instructed to execute (step S105). . Thereafter, the CPU 11 returns to step S102 to display the menu screen on the display again. Then, the CPU 11 ends the setting support process when an instruction to end the setting support process is input (step S105; end).
  • step S105 The gain adjustment process executed in step S105 is the same process as the existing gain adjustment process. Therefore, detailed description of the gain adjustment process is omitted.
  • FIG. 6 shows a flowchart of the first setting process.
  • the CPU 11 that has started the first setting process first supplies a response to each position command (output of the encoder 43) to the servo driver 20 while supplying a position command that changes with time in a predetermined pattern to the servo driver 20.
  • the response characteristic of the servo system is measured (step S201).
  • the servo system is a system including the servo driver 20, the motor 41, and the machine 42 driven by the motor 41.
  • the CPU 11 simulates the response characteristics of the servo system in a plurality of virtual situations where the parameter values of the processing target filter are different based on the measured response characteristics and filter state information (step S202).
  • step S202 The processing in step S202 is performed assuming that the servo driver 20 is a linear system. Specifically, when the filter state information indicates that the processing target filter is invalid, in step S202, the transfer function of the processing target filter of various parameter values is applied to the measured response characteristics. The response characteristics of the servo system in a plurality of virtual situations are required. If the filter state information indicates that the processing target filter is valid, in step S202, first, from the parameter value of the processing target filter at the time of response characteristic measurement (the value included in the filter state information). Then, an inverse transfer function of the transfer function of the processing target filter at the time of response characteristic measurement is obtained.
  • the response characteristic of the servo system when the processing target filter is invalid is obtained.
  • the response characteristics of the servo system in a plurality of virtual situations can be obtained by applying the transfer function of the processing target filter of various parameter values to the response characteristics thus obtained.
  • CPU11 which finished the process of step S202 specifies the instruction
  • the overshoot amount specified by the processing in this step is “maximum value of response after position command becomes final value ⁇ final value of position command”.
  • the command delay time specified in the process of step S203 is a time delay amount of the position command by the position command filter 31.
  • step S204 the graph displayed in the processing of this step is a graph in which a pointer (white circle in FIG. 8) for designating one point is displayed on the graph.
  • the CPU 11 sets a predetermined coordinate position at the command delay time and the overshoot amount when the processing target filter is invalid. Display the graph with the mark.
  • the setting instruction operation is a predetermined operation including an operation of changing the pointer position on the graph to a desired position by a mouse drag and drop operation or the like.
  • step S206 When a setting instruction operation is performed by the user (step S206; setting), the CPU 11 sets a parameter value corresponding to the pointer position designated by the user in the processing target filter (step S207). More specifically, the CPU 11 rewrites the parameter value of the processing target filter on the nonvolatile memory 21 with the parameter value corresponding to the pointer position by communicating with the servo driver 20 (control unit 23). . In step S207, the CPU 11 also performs processing for updating the parameter value of the processing target filter in the filter state information to the parameter value corresponding to the pointer position. Then, the CPU 11 ends this first setting process.
  • step S206 when an end instruction operation is performed by the user (step S206; end), the CPU 11 ends the first setting process without performing the process of step S207. Then, after completing the first setting process, the CPU 11 starts again the processes after step S102 (FIG. 2).
  • FIG. 9 shows a flowchart of the second setting process.
  • the CPU 11 that has started the second setting process first performs the same process as the process of step S101 described above in step S201.
  • Step S302 the CPU 11 simulates the response characteristics of the servo system in a plurality of virtual situations in which the combinations of the two parameter values of the two processing target filters designated by the user are different from each other based on the measured response characteristics and the filter state information.
  • the process of step S302 is the same process as the process of step S202 described above except that the number of transfer functions (and inverse transfer functions) used is two.
  • the CPU 11 specifies the command delay time and the overshoot amount in each virtual situation from each response characteristic obtained in the process of step S302 (step S303).
  • the CPU 11 displays a command delay time contour diagram (hereinafter referred to as a DT contour diagram) and an overshoot amount contour diagram (hereinafter referred to as an OS contour diagram) on the display screen (step S304).
  • step S304 the CPU 11 displays a DT contour diagram as shown in FIG. 10 on the display screen. And OS contour map are displayed. That is, the CPU 11 sets the LPF frequency, which is the parameter value of the low-pass filter 31a, as the horizontal axis, the damping control frequency, which is the parameter value of the damping filter 31b or 31c, as the vertical axis, and the overshoot amount as a color (in FIG. ) And the OS contour map expressed in () are displayed on the display screen.
  • step S304 the CPU 11 also performs a process of displaying a pointer (white circle in FIG. 10) at the same coordinate position in each contour diagram.
  • the CPU 11 determines the command delay time when one of the processing target filters is invalid and when both the processing target filters are invalid.
  • DT contour diagram is also shown, and an OS contour diagram showing the amount of overshoot when one of the processing target filters is invalid and when both processing target filters are invalid are displayed.
  • CPU11 which finished the process of step S304 (FIG. 9) waits for a user to perform setting instruction
  • indication operation (step S305).
  • the setting instruction operation is a predetermined operation including an operation of changing the position of the pointer to a desired position by a mouse drag and drop operation or the like. Note that when an operation for changing the position of the pointer on one contour diagram is performed, the CPU 11 also changes the position of the pointer on the other contour diagram.
  • the CPU 11 sets two parameter values corresponding to the position of the pointer at that time in the two processing target filters (step S310). More specifically, for example, when the processing target filters are the low-pass filter 31a and the vibration suppression filter 31b (see FIG. 10), the CPU 11 communicates with the servo driver 20 (the control unit 23), so that the pointer X The parameter value of the low-pass filter 31a on the nonvolatile memory 21 is rewritten with the coordinate value, and the parameter value of the vibration suppression filter 31b on the nonvolatile memory 21 is rewritten with the Y coordinate value of the pointer.
  • step S310 the CPU 11 also performs a process of updating the parameter values of the two processing target filters in the filter state information to the current values. And CPU11 which finished the process of step S310 complete
  • the display form change instruction operation is an operation of designating one point on the X axis or the Y axis of any contour diagram (see FIG. 10).
  • the parameter value of the axis for which one point is designated is referred to as a non-attention parameter
  • the parameter value at the point designated by the user is referred to as a designated value.
  • step S306 When the display form change instruction operation is performed (step S306; display form change), the CPU 11 displays a graph showing the relationship between the command delay time and the overshoot amount when the value of the non-attention parameter is a specified value. It is displayed on the screen (step S307). That is, the CPU 11 has a low-pass filter 31a and a vibration suppression filter 31b as processing target filters (see FIG. 10), and when one point on the X-axis of any contour diagram is designated, the cutoff frequency of the low-pass filter 31a.
  • a graph showing the relationship between the command delay time and the overshoot amount in the case where is the frequency of the designated point for example, a graph as shown in FIG. 11A is displayed on the display screen.
  • the vibration suppression control frequency of the vibration suppression filter 31b is specified.
  • a graph showing the relationship between the command delay time and the overshoot amount, for example, a graph as shown in FIG. 11B is displayed on the display screen.
  • a pointer is also displayed on the graph displayed by the CPU 11 in step S307.
  • step S307 the CPU 11 waits for the user to perform a setting instruction operation or an end instruction operation including an operation of changing the pointer position on the graph to a desired position by a mouse drag and drop operation or the like (step S307). S308).
  • step S309; end the CPU 11 executes the processes after step S304 again.
  • step S309 when a setting instruction operation is performed by the user (step S309; setting), the CPU 11 sets each of the two parameter values specified by the user through the display form change instruction operation and the pointer operation in the corresponding processing target filter ( Step S310).
  • the CPU 11 also performs a process for updating the filter state information (step S310).
  • CPU11 which finished the process of step S310 starts the process after step S304.
  • step S306 when an end instruction operation is performed during display of the DT contour diagram and the OS contour diagram (step S306; end), the CPU 11 ends the second setting process and performs the setting support process (FIG. 5). The process after step S102 is started.
  • FIG. 12 shows a flowchart of the third setting process.
  • the CPU 11 that has started the third setting process first performs a specified process such as a command delay time in step S401.
  • This specifying process such as the command delay time is the same as the process in steps S301 to S303 of the second setting process (FIG. 9).
  • the CPU 11 that has completed the specified process such as the command delay time displays a message indicating that the specified process such as the command delay time has been completed on the display screen, and then waits for a measurement start instruction to be input (step S402).
  • the user of the setting support apparatus 10 performs an operation of changing the state of the machine 45 (a state related to the inertia value) and then inputs a measurement start instruction.
  • step S403 the CPU 11 again performs the specific process such as the command delay time, which is the same as the process in steps S301 to S303 of the second setting process.
  • step S404 the CPU 11 that has finished the process of step S403 first calculates the command delay time for each virtual situation from the command delay time and the overshoot amount specified in the two specific processing processes such as the command delay time.
  • the worst value is specified for the worst value and the overshoot amount.
  • the CPU 11 displays a command delay time worst value contour diagram (hereinafter referred to as a DTW contour diagram) and an overshoot amount worst value contour diagram (hereinafter referred to as an OSW contour diagram) on a display screen.
  • a command delay time worst value contour diagram hereinafter referred to as a DTW contour diagram
  • an overshoot amount worst value contour diagram hereinafter referred to as an OSW contour diagram
  • the DTW contour diagram is a contour diagram in which the parameter value of one processing target filter is on the horizontal axis, the parameter value of the other processing target filter is on the vertical axis, and the worst value of the command delay time is expressed in color. It is.
  • the OSW contour diagram is a contour diagram in which the parameter value of one processing target filter is on the horizontal axis, the parameter value of the other processing target filter is on the vertical axis, and the worst value of the overshoot amount is expressed in color. is there.
  • the processing target filters are the low-pass filter 31a and the vibration suppression filter 31b
  • the result that the OS contour diagram is as shown in FIG. 13A is obtained in the specific processing such as the command delay time in step S401.
  • the OS contour diagram becomes the one shown in FIG. 13B is obtained by the specific processing such as the command delay time in step S403
  • the OSW contour diagram is as shown in FIG. 13C. Things are displayed.
  • the CPU 11 displays a DT contour diagram as a DTW contour diagram without obtaining the worst value of the command delay time.
  • the CPU 11 specifies the worst value of the command delay time and the worst value of the overshoot amount for each virtual situation, and based on the identification results. For example, an OSW contour diagram and a DTW contour diagram as shown in FIG. 14 are displayed on the screen of the display.
  • step S404 the CPU 11 performs the same process as the process of steps S305 to S310 of the second setting process (FIG. 9) in steps S405 to S410, and performs an end instruction operation.
  • step S406; end the third setting process is ended, and the process after step S102 of the setting support process (FIG. 5) is started.
  • the setting support apparatus 10 presents the graph (FIG. 8) showing the relationship between the overshoot amount and the command delay time to the user, and the processing target in the position command filter
  • a first setting process that allows the user to specify a parameter value to be set in the filter can be executed.
  • the setting support apparatus 10 gives the user an OS contour diagram showing the relationship between the parameter value combination of the two processing target filter and the overshoot amount, and the relationship between the parameter value combination of the two processing target filter and the command delay time.
  • a DT contour diagram (FIG. 10) to be shown can be presented, and the second setting process can be executed to allow the user to specify parameter values to be set in the two process target filters in the position command filter.
  • the setting support device 10 presents the OSW contour diagram indicating the worst value of the overshoot amount and the DTW contour diagram (FIG. 14) indicating the worst value of the command delay time to the user, and performs two processing targets in the position command filter. It is also possible to execute a third setting process that allows the user to specify a parameter value to be set in the filter. Therefore, if the setting support device 10 is used, the user can set one or two filters in the position command filter 31 in consideration of the disadvantages.
  • the setting support device 10 is configured to be able to execute gain adjustment processing (FIG. 5; S105). Therefore, according to the setting support device 10, when vibration occurs in the gain adjustment process or before the gain adjustment process, the position command filter 31 is adjusted to a state where vibration can be suppressed, and then the gain of the servo driver 20 is increased. Adjustment / readjustment can be performed.
  • the above-described setting support device 10 can perform various modifications.
  • information to be presented to the user by a graph / contour diagram includes an overshoot amount index value (a value indicating the amount of overshoot amount) and a position command time delay index value by the position command filter (by the position command filter). It may be a value representing the length of the time delay amount of the position command. Therefore, instead of the overshoot amount, the maximum value of the response to the position command input may be adopted. Further, a settling time or the like may be employed instead of the command delay time described above.
  • the setting function for the parameter value processing target filter may be removed from the setting support apparatus 10 so that the parameter value processing target filter is set by a device different from the setting support apparatus 10.
  • the first setting process (FIG. 6) is transformed into a process for displaying the parameter value at the pointer position, and the second and third setting processes are changed to setting instructions. It may be transformed into a process that does not accept.
  • the information acquired from the servo driver 20 in order for the setting support apparatus 10 to obtain response characteristics may be the speed and acceleration of the motor 41 or the position, speed or acceleration of the machine 42.
  • the position of the motor 41 (PosMotor) changes with little overshoot with respect to the position command (“PosCmd")
  • the position of the machine 42 (PosLoad” ") Can vibrate. Therefore, the first to third setting processes may be modified into a process for presenting the amount of overshoot of the position of the machine 42 to the user.
  • the configuration of the setting support device 10 and the servo driver 20 may be different from those described above, or the contour diagram of the setting support device 10 having a form different from that described above (for example, an isoline is displayed. Of course, it may be modified to display a contour diagram).
  • Setting Support Device 11
  • CPU 12 HDD 15
  • Setting support program 18
  • CD-ROM DESCRIPTION OF SYMBOLS 20
  • Servo driver 21
  • Non-volatile memory 22
  • Motor drive circuit 23
  • Control part 31a Low pass filter
  • Position command filter 31b
  • 31c Damping filter 33
  • Speed controller 35
  • Speed controller 36
  • Current controller 37
  • Speed detector 41

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
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  • Feedback Control In General (AREA)

Abstract

Provided is a setting assistance device with which settings for a position command filter can be carried out while taking into account disadvantages. This setting assistance device is configured so as to simulate a response characteristic of a servo system in each of a plurality of virtual environments in which a setting for a position command filter differs, on the basis of a measurement result for the response characteristic of the servo system, present a graph showing a relationship between an index value of an overshoot amount and an index value of a delay time in a position command by the position command filter, and allow a user to make a setting for the position command filter.

Description

設定支援装置及び設定支援プログラムSetting support apparatus and setting support program
　本発明は、サーボドライバ内の位置指令フィルタの設定を支援するための設定支援装置と設定支援プログラムとに関する。 The present invention relates to a setting support device and a setting support program for supporting the setting of a position command filter in a servo driver.
　サーボドライバの位置指令フィルタに対する各種設定を容易にするために、位置指令フィルタに対する各種設定を１つのウィンドウの中で行なうことができるプログラム（例えば、特許文献１参照）が開発されている。 In order to facilitate various settings for the position command filter of the servo driver, a program (for example, see Patent Document 1) capable of performing various settings for the position command filter in one window has been developed.
特開２０１２－１５０７５８号公報JP 2012-150758 A
　上記技術によれば、位置指令フィルタに対する各種設定を比較的に容易に行うことができる。ただし、上記技術は、フィルタ設定の変更により生ずる、位置指令が遅延する等のデメリットをユーザが把握できないものとなっている。そのため、上記技術を用いた場合には、位置指令の遅延時間が長くなり過ぎてフィルタ設定をやり直さなければならないことが生じ得る。 According to the above technique, various settings for the position command filter can be performed relatively easily. However, in the above technique, the user cannot grasp the demerits such as the delay of the position command caused by the change of the filter setting. Therefore, when the above technique is used, it may occur that the delay time of the position command becomes too long and the filter setting needs to be performed again.
　本発明は、上記問題に鑑みてなされたものであり、位置指令フィルタの設定をデメリットも考慮して行える設定支援装置及び設定支援プログラムを提供することを目的とする。 The present invention has been made in view of the above problems, and an object of the present invention is to provide a setting support device and a setting support program capable of setting a position command filter in consideration of disadvantages.
　上記目的を達成するために、本発明の一観点による設定支援装置（以下、第１設定支援装置とも表記する）は、第１パラメータを有する第１フィルタを含む、サーボドライバ内の位置指令フィルタの設定を支援する設定支援装置であって、前記サーボドライバと前記サーボドライバにより制御されるサーボモータと前記サーボモータにより駆動される被駆動体とを含むサーボシステムの応答特性を測定する測定手段と、前記測定手段により測定された前記サーボシステムの応答特性と、当該応答特性の測定時における前記第１フィルタの動作状態を示す情報とに基づき、前記第１パラメータの値が異なる複数の状況における前記サーボシステムの応答特性をシミュレートし、各状況における前記サーボシステムの応答特性のシミュレート結果に基づき、各状況におけるオーバーシュート量の指標値である第１指標値及び前記位置指令フィルタよる位置指令の時間遅れ量の指標値である第２指標値を特定する特定手段と、前記特定手段により特定された各状況における前記第１指標値及び前記第２指標値に基づき、ディスプレイの画面上に、前記第１指標値と前記第２指標値との関係を示すグラフであって、前記第１指標値、前記第２指標値を、それぞれ、縦軸及び横軸の中の一方、他方としたグラフを表示する表示制御手段と、前記グラフ上からユーザにより指定された点に対応する前記第１パラメータの値を前記第１フィルタの前記第１パラメータに設定する設定手段と、を備える。 In order to achieve the above object, a setting support device (hereinafter also referred to as a first setting support device) according to an aspect of the present invention is a position command filter in a servo driver including a first filter having a first parameter. A setting support apparatus for supporting setting, wherein the servo driver, a servo motor controlled by the servo driver, and a measurement unit that measures response characteristics of a servo system including a driven body driven by the servo motor; The servo in a plurality of situations in which the value of the first parameter is different based on the response characteristic of the servo system measured by the measuring means and information indicating the operation state of the first filter at the time of measurement of the response characteristic. Simulate the response characteristics of the system and simulate the response characteristics of the servo system in each situation A first index value that is an index value of the amount of overshoot in each situation and a second index value that is an index value of the time delay amount of the position command by the position command filter; and A graph showing a relationship between the first index value and the second index value on a display screen based on the first index value and the second index value in each identified situation, Display control means for displaying a graph with the index value and the second index value as one of the vertical axis and the horizontal axis, respectively, and the first corresponding to the point designated by the user on the graph Setting means for setting a parameter value to the first parameter of the first filter.
　すなわち、この第１設定支援装置は、ユーザに、第１指標値（オーバーシュート量の指標値）、第２指標値（前記位置指令フィルタよる位置指令の時間遅れ量の指標値）との関係を示すグラフを提示して、位置指令フィルタ内の第１フィルタの第１パラメータに設定する値をユーザに指定させる構成を有する。従って、この第１設定支援装置を用いておけば、ユーザが、位置指令フィルタの設定をデメリットも考慮して行えることになる。 That is, the first setting support device gives the user a relationship between the first index value (overshoot amount index value) and the second index value (position command time delay amount index value by the position command filter). The graph which shows is shown and it has the structure which makes a user designate the value set to the 1st parameter of the 1st filter in a position command filter. Therefore, if this first setting support device is used, the user can set the position command filter in consideration of the disadvantages.
　また、本発明の他の観点による設定支援装置（以下、第２設定支援装置とも表記する）は、第１パラメータを有する第１フィルタと第２パラメータを有する第２フィルタとを含む、サーボドライバ内の位置指令フィルタの設定を支援する設定支援装置であって、前記サーボドライバと前記サーボドライバにより制御されるサーボモータと前記サーボモータにより駆動される被駆動体とを含むサーボシステムの応答特性を測定する測定手段と、前記測定手段により測定された前記サーボシステムの応答特性と、当該応答特性の測定時における前記第１フィルタの動作状態を示す情報とに基づき、前記第１パラメータの値と前記第２パラメータの値の組合せが互いに異なる複数の状況における前記サーボシステムの応答特性をシミュレートし、各状況における前記サーボシステムの応答特性のシミュレート結果に基づき、各状況におけるオーバーシュート量の指標値である第１指標値及び前記位置指令フィルタよる位置指令の時間遅れ量の指標値である第２指標値を特定する特定手段と、前記特定手段により特定された各状況における前記第１指標値及び前記第２指標値に基づき、ディスプレイの画面上に、前記第１パラメータの値と前記第２パラメータの値の組み合わせと前記第１指標値と間の関係を示す第１画像情報、及び、前記第１パラメータの値と前記第２パラメータの値の組み合わせと前記第２指標値と間の関係を示す第２画像情報を表示する表示制御手段と、を備える。 A setting support apparatus (hereinafter also referred to as a second setting support apparatus) according to another aspect of the present invention includes a first filter having a first parameter and a second filter having a second parameter. A setting support apparatus for supporting setting of a position command filter of a servo system, which measures response characteristics of a servo system including the servo driver, a servo motor controlled by the servo driver, and a driven body driven by the servo motor Based on the measurement means, the response characteristic of the servo system measured by the measurement means, and the information indicating the operation state of the first filter at the time of measurement of the response characteristic, and the first parameter value and the first parameter Simulating the response characteristics of the servo system in a plurality of situations where the combinations of the two parameter values are different from each other; Based on the simulation result of the response characteristic of the servo system in the situation, the first index value that is the index value of the overshoot amount in each situation and the second index that is the index value of the time delay amount of the position command by the position command filter Based on the first index value and the second index value in each situation specified by the specifying means and a specifying means for specifying a value, the value of the first parameter and the value of the second parameter are displayed on a display screen. First image information indicating a relationship between a combination of values and the first index value; and a first image information indicating a relationship between a combination of the first parameter value and the second parameter value and the second index value. Display control means for displaying two-image information.
　すなわち、この第２設定支援装置は、ユーザに、前記第１パラメータの値と前記第２パラメータの値の組み合わせと前記第１指標値との関係を示す第１画像情報、及び、前記第１パラメータの値と前記第２パラメータの値の組み合わせと前記第２指標値との関係を示す第２画像情報を提示することが出来る。従って、この第２設定支援装置を用いておけば、ユーザが、デメリットも考慮して位置指令フィルタ内の２つのフィルタの設定を行えることになる。なお、位置指令フィルタへの実際の設定が他装置を用いて行われるようにしておいても良い。ただし、第２設定支援装置に対する操作のみで位置指令フィルタの設定が行えるようにするために、第２設定支援装置に、前記第３及び第４画像情報が前記ディスプレイの画面上に表示されている状態でユーザに前記第１設定値及び前記第２設定値を指定させて、指定された前記第１設定値、前記第２設定値を、それぞれ、前記第１フィルタの前記第１パラメータ、前記第２フィルタの前記第２パラメータに設定する第２設定手段を追加しても良い。 That is, the second setting support device provides the user with the first image information indicating the relationship between the first parameter value, the combination of the second parameter value, and the first index value, and the first parameter. Second image information indicating a relationship between a combination of the value of the second parameter and the value of the second parameter and the second index value can be presented. Therefore, if this second setting support apparatus is used, the user can set the two filters in the position command filter in consideration of the disadvantages. The actual setting to the position command filter may be performed using another device. However, the third and fourth image information is displayed on the screen of the display on the second setting support device so that the position command filter can be set only by an operation on the second setting support device. In a state, the user is allowed to specify the first setting value and the second setting value, and the specified first setting value and the second setting value are respectively set to the first parameter of the first filter, the second setting value. You may add the 2nd setting means set to the said 2nd parameter of 2 filters.
　第２設定支援装置の表示制御手段は、『前記第１画像情報として、前記第１パラメータの値、前記第２パラメータの値を、それぞれ、縦軸及び横軸の中の一方、他方とし、前記第１指標値を色又は輝度で表す第１コンター図を表示し、前記第２画像情報として、前記第１パラメータの値、前記第２パラメータの値を、それぞれ、縦軸及び横軸の中の一方、他方とし、前記第２指標値を色又は輝度で表す第２コンター図を表示する』手段であってもよい。 The display control means of the second setting support device reads: “As the first image information, the value of the first parameter and the value of the second parameter are one of the vertical axis and the horizontal axis, respectively, A first contour diagram representing the first index value in color or luminance is displayed, and the first parameter value and the second parameter value in the vertical axis and the horizontal axis, respectively, are used as the second image information. On the other hand, a means for displaying the second contour diagram representing the second index value in color or luminance as the other may be used.
　表示制御手段として上記手段を採用する場合、設定手段は、『ユーザにより指定された前記第１コンター図又は前記第２コンター図上の位置に対応する前記第１パラメータの値、前記第２パラメータの値を、それぞれ、前記第１設定値、前記第２設定値として取り扱う』手段であってもよい。 When adopting the above-mentioned means as the display control means, the setting means reads: “The value of the first parameter corresponding to the position on the first contour diagram or the second contour diagram designated by the user, the second parameter value It may be a means that handles values as the first set value and the second set value, respectively.
　第２設定支援装置の特定手段は、『さらに、前記第１フィルタが無効とされている１つ以上の状況における前記第１指標値及び前記第２指標値と、前記第２フィルタが無効とされている１つ以上の状況における前記第１指標値及び前記第２指標値とを、特定する』手段であってもよい。 The specifying means of the second setting support device is: “Furthermore, the first filter value and the second index value in one or more situations where the first filter is disabled, and the second filter is disabled. Means for specifying the first index value and the second index value in one or more situations ”.
　また、第２設定支援装置に、前記被駆動体の状態が第１状態であるときに前記測定手段により測定された前記サーボシステムの応答特性と、当該応答特性の測定時における前記第１フィルタの動作状態を示す情報とに基づき、前記特定手段により特定された前記複数の状況のそれぞれの状況における前記第１指標値及び前記第２指標値と、前記被駆動体の状態が前記第１状態とは異なる第２状態であるときに前記測定手段により測定された前記サーボシステムの応答特性と、当該応答特性の測定時における前記第１フィルタの動作状態を示す情報とに基づき、前記特定手段により特定された前記複数の状況のそれぞれの状況における前記第１指標値及び前記第２指標値とに基づき、各状況における前記第１指標値の最悪値及び前記第２指標値の最悪値を特定し、ディスプレイの画面上に、前記第１パラメータの値と前記第２パラメータの値の組み合わせと前記第１指標値の最悪値と間の関係を示す第３画像情報、及び、前記第１パラメータの値と前記第２パラメータの値の組み合わせと前記第２指標値の最悪値との関係を示す第４画像情報を表示する第２表示制御手段と、を付加しておいても良い。第２設定支援装置に、第２表示制御手段を付加する場合には、さらに、前記第３及び第４画像情報が前記ディスプレイの画面上に表示されている状態でユーザに前記第１パラメータの値、前記第２パラメータの値を指定させて、指定された前記第１パラメータの値、前記第２パラメータの値を、それぞれ、前記第１フィルタの前記第１パラメータ、前記第２フィルタの前記第２パラメータに設定する第２設定手段を付加しておいても良い。 In addition, the second setting support device may include a response characteristic of the servo system measured by the measurement unit when the driven body is in the first state, and the first filter at the time of measuring the response characteristic. Based on the information indicating the operating state, the first index value and the second index value in each of the plurality of situations specified by the specifying means, and the state of the driven body is the first state Is specified by the specifying means based on the response characteristics of the servo system measured by the measuring means when in different second states and information indicating the operating state of the first filter at the time of measuring the response characteristics. Based on the first index value and the second index value in each of the plurality of situations, the worst value of the first index value and the second index in each situation And the third image information indicating a relationship between the combination of the first parameter value and the second parameter value and the worst value of the first index value on the display screen, and Second display control means for displaying fourth image information indicating a relationship between a combination of the first parameter value, the second parameter value, and the worst value of the second index value may be added. good. When the second display control means is added to the second setting support device, the value of the first parameter is further displayed to the user while the third and fourth image information is displayed on the screen of the display. The value of the second parameter is designated, and the value of the designated first parameter and the value of the second parameter are designated as the first parameter of the first filter and the second value of the second filter, respectively. You may add the 2nd setting means set to a parameter.
　位置指令フィルタ内の第１フィルタ、第２フィルタは、それぞれ、ローパスフィルタ、制振フィルタであってもよく、第１フィルタ、第２フィルタの双方が、制振フィルタであってもよい。なお、制振フィルタとは、指令値を整形して特定の周波数を除去することで負荷の揺れを抑制するフィルタ（ノッチフィルタ等）のことである。 The first filter and the second filter in the position command filter may be a low-pass filter and a vibration suppression filter, respectively, and both the first filter and the second filter may be vibration suppression filters. The damping filter is a filter (notch filter or the like) that suppresses fluctuation of the load by shaping a command value and removing a specific frequency.
　第１、第２設定支援装置の測定手段は、サーボシステムの応答特性を測定するために、位置指令に対する応答として、モータの位置、速度及び加速度と被駆動体の位置、速度及び加速度の中のいずれを測定するものであっても良い。また、第１、第２設定支援装置に、前記サーボドライバのゲインを調整するゲイン調整手段を付加しておいても良い。 In order to measure the response characteristic of the servo system, the measuring means of the first and second setting support devices includes the position, speed and acceleration of the motor and the position, speed and acceleration of the driven body as a response to the position command. Any of them may be measured. Further, gain adjusting means for adjusting the gain of the servo driver may be added to the first and second setting support devices.
　本発明の一観点による設定支援プログラムは、第１パラメータを有する第１フィルタを含む、サーボドライバ内の位置指令フィルタの設定を支援する設定支援プログラムであって、前記サーボドライバと接続されたコンピュータに、前記サーボドライバと前記サーボドライバにより制御されるサーボモータと前記サーボモータにより駆動される被駆動体とを含むサーボシステムの応答特性を測定する測定ステップと、前記測定ステップにより測定された前記サーボシステムの応答特性と、当該応答特性の測定時における前記第１フィルタの動作状態を示す情報とに基づき、前記第１パラメータの値が異なる複数の状況における前記サーボシステムの応答特性をシミュレートし、各状況における前記サーボシステムの応答特性のシミュレート結果に基づき、各状況におけるオーバーシュート量の指標値である第１指標値及び前記位置指令フィルタよる位置指令の時間遅れ量の指標値である第２指標値を特定する特定ステップと、前記特定ステップにより特定された各状況における前記第１指標値及び前記第２指標値に基づき、ディスプレイの画面上に、前記第１指標値と前記第２指標値との関係を示すグラフであって、前記第１指標値、前記第２指標値を、それぞれ、縦軸及び横軸の中の一方、他方としたグラフを表示する表示制御ステップと、前記グラフ上からユーザにより指定された点に対応する前記第１パラメータの値を前記第１フィルタの前記第１パラメータに設定する設定ステップと、を実行させる。 A setting support program according to an aspect of the present invention is a setting support program for supporting setting of a position command filter in a servo driver, including a first filter having a first parameter, which is stored in a computer connected to the servo driver. A measuring step for measuring a response characteristic of a servo system including the servo driver, a servo motor controlled by the servo driver, and a driven body driven by the servo motor, and the servo system measured by the measuring step , And information indicating the operating state of the first filter at the time of measurement of the response characteristic, the response characteristic of the servo system in a plurality of situations where the value of the first parameter is different, Simulate the response characteristics of the servo system in the situation A specifying step for specifying a first index value that is an index value of an overshoot amount in each situation and a second index value that is an index value of a time delay amount of the position command by the position command filter; A graph showing a relationship between the first index value and the second index value on a display screen based on the first index value and the second index value in each situation specified by A display control step for displaying a graph with one index value and the second index value as one of the vertical axis and the horizontal axis, respectively, and the first corresponding to the point designated by the user on the graph A setting step of setting a value of one parameter to the first parameter of the first filter.
　また、本発明の一観点による設定支援プログラムは、第１パラメータを有する第１フィルタと第２パラメータを有する第２フィルタとを含む、サーボドライバ内の位置指令フィルタの設定を支援する設定支援プログラムであって、前記サーボドライバと接続されたコンピュータに、前記サーボドライバと前記サーボドライバにより制御されるサーボモータと前記サーボモータにより駆動される被駆動体とを含むサーボシステムの応答特性を測定する測定ステップと、前記測定ステップにより測定された前記サーボシステムの応答特性と、当該応答特性の測定時における前記第１フィルタの動作状態を示す情報とに基づき、前記第１パラメータの値と前記第２パラメータの値の組合せが互いに異なる複数の状況における前記サーボシステムの応答特性をシミュレートし、各状況における前記サーボシステムの応答特性のシミュレート結果に基づき、各状況におけるオーバーシュート量の指標値である第１指標値及び前記位置指令フィルタよる位置指令の時間遅れ量の指標値である第２指標値を特定する特定ステップと、前記特定ステップにより特定された各状況における前記第１指標値及び前記第２指標値に基づき、ディスプレイの画面上に、前記第１パラメータの値と前記第２パラメータの値の組み合わせと前記第１指標値と間の関係を示す第１画像情報、及び、前記第１パラメータの値と前記第２パラメータの値の組み合わせと前記第２指標値と間の関係を示す第２画像情報を表示する表示制御ステップと、を実行させる。 A setting support program according to an aspect of the present invention is a setting support program that supports setting of a position command filter in a servo driver, which includes a first filter having a first parameter and a second filter having a second parameter. A measuring step of measuring response characteristics of a servo system including the servo driver, a servo motor controlled by the servo driver, and a driven body driven by the servo motor in a computer connected to the servo driver; And the value of the first parameter and the value of the second parameter based on the response characteristic of the servo system measured in the measurement step and information indicating the operating state of the first filter at the time of measurement of the response characteristic. The servo system in a plurality of situations with different combinations of values. The response characteristic is simulated, and based on the simulation result of the response characteristic of the servo system in each situation, the first index value that is the index value of the overshoot amount in each situation and the time delay amount of the position command by the position command filter A specifying step of specifying a second index value that is an index value of the first parameter value, and the first parameter value on the display screen based on the first index value and the second index value in each situation specified by the specifying step First image information indicating a relationship between a combination of the first parameter value and the second parameter value and the first index value, and a combination of the first parameter value and the second parameter value and the second index And a display control step for displaying second image information indicating a relationship between the values.
　従って、本発明の各観点による設定支援プログラムをサーボドライバと接続されたコンピュータに実行させれば、ユーザが位置指令フィルタの設定をデメリットも考慮して行えることになる。 Therefore, if the setting support program according to each aspect of the present invention is executed by a computer connected to the servo driver, the user can set the position command filter in consideration of the disadvantages.
　本発明によれば、ユーザが位置指令フィルタの設定をデメリットも考慮して行える設定支援装置及び設定支援プログラムを提供することができる。 According to the present invention, it is possible to provide a setting support device and a setting support program that allow a user to set a position command filter in consideration of disadvantages.
本発明の一実施形態に係る設定支援装置の使用形態、及び、実施形態に係る設定支援装置と接続されるサーボドライバの構成の説明図である。It is explanatory drawing of the use form of the setting assistance apparatus which concerns on one Embodiment of this invention, and the structure of the servo driver connected with the setting assistance apparatus which concerns on embodiment. サーボドライバの制御部のモータ制御機能に関する機能ブロック図である。It is a functional block diagram regarding the motor control function of the control part of a servo driver. サーボドライバの制御部が備える位置指令フィルタの構成の説明図である。It is explanatory drawing of a structure of the position command filter with which the control part of a servo driver is provided. 実施形態に係る設定支援装置のハードウェア構成の説明図である。It is explanatory drawing of the hardware constitutions of the setting assistance apparatus which concerns on embodiment. 実施形態に係る設定支援装置のＣＰＵが実行可能な設定支援処理の流れ図である。It is a flowchart of the setting assistance process which CPU of the setting assistance apparatus which concerns on embodiment can perform. 設定支援処理のステップＳ１０５で実行されることがある第１設定処理の流れ図である。It is a flowchart of the 1st setting process which may be performed by step S105 of a setting assistance process. オーバーシュート量の説明図である。It is explanatory drawing of the amount of overshoots. オーバーシュート量の説明図である。It is explanatory drawing of the amount of overshoots. 第１設定処理時に表示されるグラフの説明図である。It is explanatory drawing of the graph displayed at the time of a 1st setting process. 設定支援処理のステップＳ１０５で実行されることがある第２設定処理の流れ図である。It is a flowchart of the 2nd setting process which may be performed by step S105 of a setting assistance process. 第２設定処理時に表示されるＤＴコンター図及びＯＳコンター図の説明図である。It is explanatory drawing of a DT contour figure and OS contour figure displayed at the time of a 2nd setting process. 第２設定処理時に表示されるグラフの説明図である。It is explanatory drawing of the graph displayed at the time of a 2nd setting process. 第２設定処理時に表示されるグラフの説明図である。It is explanatory drawing of the graph displayed at the time of a 2nd setting process. 設定支援処理のステップＳ１０５で実行されることがある第３設定処理の流れ図である。It is a flowchart of the 3rd setting process which may be performed by step S105 of a setting assistance process. 第３設定処理時に表示されるグラフの説明図である。It is explanatory drawing of the graph displayed at the time of a 3rd setting process. 第３設定処理時に表示されるＤＴＷコンター図及びＯＳＷコンター図の説明図である。It is explanatory drawing of the DTW contour figure and OSW contour figure displayed at the time of a 3rd setting process. 応答特性を得るために使用できる情報の説明図である。It is explanatory drawing of the information which can be used in order to obtain a response characteristic.
　以下、図面に基づいて、本発明の実施の形態を説明する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
　図１に、本発明の一実施形態に係る設定支援装置１０の使用形態を示す。
　本実施形態に係る設定支援装置１０は、サーボドライバ２０と接続されて使用される装置である。 FIG. 1 shows a usage pattern of a setting support apparatus 10 according to an embodiment of the present invention.
The setting support apparatus 10 according to the present embodiment is an apparatus that is used by being connected to the servo driver 20.
　設定支援装置１０の詳細を説明する前に、サーボドライバ２０の構成及び機能を説明することにする。図１に示してあるように、設定支援装置１０が接続されるサーボドライバ２０は、不揮発性メモリ２１、モータ駆動回路２２及び制御部２３を備える。 Before describing the details of the setting support device 10, the configuration and functions of the servo driver 20 will be described. As shown in FIG. 1, the servo driver 20 to which the setting support device 10 is connected includes a nonvolatile memory 21, a motor drive circuit 22, and a control unit 23.
　モータ駆動回路２２は、制御部２３の制御下、モータ４１に駆動電流を供給する回路である。制御部２３は、プロセッサ（マイクロコントローラ、ＣＰＵ等）とその周辺素子から構成されたユニットである。この制御部２３が実行する主要な処理は、ＰＬＣ等の外部装置から入力される位置指令に従ってモータ４１（モータ駆動回路２２）を制御するモータ制御処理である。ただし、制御部２３は、他の処理も実行可能に構成（プログラミング）されている。不揮発性メモリ２１は、ＥＥＰＲＯＭ（Electrically Erasable and Programmable Read Only Memory）等の、データの書き換えが可能な不揮発性メモリである。この不揮発性メモリ２１には、制御部２３がモータ制御処理時に利用する各種パラメータが記憶される。 The motor drive circuit 22 is a circuit that supplies a drive current to the motor 41 under the control of the control unit 23. The control unit 23 is a unit composed of a processor (microcontroller, CPU, etc.) and its peripheral elements. The main process executed by the control unit 23 is a motor control process for controlling the motor 41 (motor drive circuit 22) in accordance with a position command input from an external device such as a PLC. However, the control unit 23 is configured (programmed) so that other processes can also be executed. The nonvolatile memory 21 is a nonvolatile memory capable of rewriting data, such as EEPROM (ElectricallyEErasable and Programmable Read Only Memory). The nonvolatile memory 21 stores various parameters used by the control unit 23 during motor control processing.
　以下、サーボドライバ２０の制御部２３及び不揮発性メモリ２１についてさらに具体的に説明する。
　図２に、制御部２３のモータ制御処理機能に関する機能ブロック図を示す。図示してあるように、制御部２３は、位置指令フィルタ３１、位置制御器３３、速度制御器３５、電流制御器３６及び速度検出器３７を備えたユニットとして機能するように構成（プログラミング）されている。 Hereinafter, the control unit 23 and the nonvolatile memory 21 of the servo driver 20 will be described more specifically.
In FIG. 2, the functional block diagram regarding the motor control processing function of the control part 23 is shown. As illustrated, the control unit 23 is configured (programmed) to function as a unit including a position command filter 31, a position controller 33, a speed controller 35, a current controller 36, and a speed detector 37. ing.
　位置指令フィルタ３１は、位置指令をフィルタリングするためのデジタルフィルタである。この位置指令フィルタ３１は、図３に示したように、ローパスフィルタ３１ａと制振フィルタ３１ｂと制振フィルタ３１ｃとを直列接続したものとなっている。なお、制振フィルタ３１ｂとは、なお、制振フィルタとは、指令値を整形して特定の周波数を除去することで負荷の揺れを抑制するフィルタ（例えば、ノッチフィルタ）のことである。 The position command filter 31 is a digital filter for filtering the position command. As shown in FIG. 3, the position command filter 31 includes a low-pass filter 31a, a damping filter 31b, and a damping filter 31c connected in series. Note that the vibration suppression filter 31b is a filter (for example, a notch filter) that suppresses fluctuation of the load by shaping a command value and removing a specific frequency.
　位置制御器３３（図２）は、位置指令フィルタ３１によりフィルタリングされた位置指令と、エンコーダ４３により検出されたモータ４１の位置（モータ４１の回転軸の位置）との間の偏差に応じた速度指令を生成するユニット（機能ブロック）である。速度検出器３７は、エンコーダ４３により検出されたモータ４１の位置を微分することで、モータ４１の速度を検出するユニットである。速度制御器３５は、位置制御器３３により生成された速度指令と速度検出器３７により検出された速度との間の偏差に応じた電流指令を生成するユニットである。電流制御器３６は、速度制御器３５からの電流指令通りの電流をモータ４１に供給するための制御信号（本実施形態では、ＰＷＭ信号）を生成して、モータ駆動回路２２に供給するユニットである。 The position controller 33 (FIG. 2) is a speed corresponding to a deviation between the position command filtered by the position command filter 31 and the position of the motor 41 (position of the rotating shaft of the motor 41) detected by the encoder 43. A unit (functional block) that generates a command. The speed detector 37 is a unit that detects the speed of the motor 41 by differentiating the position of the motor 41 detected by the encoder 43. The speed controller 35 is a unit that generates a current command corresponding to a deviation between the speed command generated by the position controller 33 and the speed detected by the speed detector 37. The current controller 36 is a unit that generates a control signal (in this embodiment, a PWM signal) for supplying a current according to a current command from the speed controller 35 to the motor 41 and supplies it to the motor drive circuit 22. is there.
　不揮発性メモリ２１には、各フィルタのパラメータ（中心周波数、遮断周波数等）の設定値、各フィルタの使用の有無（各フィルタが有効とされているか無効とされているかの別）が記憶されている。不揮発性メモリ２１には、位置制御器３３や速度制御器３５に関するパラメータ（位置比例ゲイン、速度比例ゲイン等）も記憶されており、制御部２３は、位置指令フィルタ３１、位置制御器３３等として実際に行う処理の内容を、不揮発性メモリ２１に記憶されている情報に基づき決定する。 The nonvolatile memory 21 stores set values of parameters (center frequency, cutoff frequency, etc.) of each filter, and whether each filter is used (whether each filter is enabled or disabled). Yes. The nonvolatile memory 21 also stores parameters (position proportional gain, speed proportional gain, etc.) relating to the position controller 33 and the speed controller 35, and the control unit 23 includes a position command filter 31, a position controller 33, and the like. The content of the processing to be actually performed is determined based on the information stored in the nonvolatile memory 21.
　また、制御部２３は、位置指令の供給源である外部装置にエンコーダ４３により検出された位置を返送しながらモータ制御処理を行う機能、外部装置から要求されたユニット（フィルタ３１ａ～３１ｃ、位置制御器３３等）についての不揮発性メモリ２１上の情報を、外部装置に返送する機能、外部装置から指定されたユニットについての不揮発性メモリ２１上の情報を外部装置から指定された情報に書き換える機能等も有している。 The control unit 23 also performs a motor control process while returning the position detected by the encoder 43 to an external device that is a position command supply source, units requested by the external device (filters 31a to 31c, position control). A function of returning information on the non-volatile memory 21 to the external device, a function of rewriting information on the non-volatile memory 21 about the unit designated by the external device to information designated by the external device, etc. Also have.
　以下、設定支援装置１０の構成及び機能を説明する。
　図４に、本実施形態に係る設定支援装置１０の構成を示す。 Hereinafter, the configuration and function of the setting support apparatus 10 will be described.
FIG. 4 shows a configuration of the setting support apparatus 10 according to the present embodiment.
　図示してあるように、設定支援装置１０は、ＣＰＵ１１、ＨＤＤ１２、サーボドライバ２０との間で通信を行うための通信インターフェース（通信Ｉ／Ｆ）等からなるコンピュータに、ＣＤ－ＲＯＭ１８から設定支援プログラム１５をインストールした装置である。 As shown in the figure, the setting support apparatus 10 is configured to load a setting support program from the CD-ROM 18 into a computer including a communication interface (communication I / F) for communicating with the CPU 11, the HDD 12, and the servo driver 20. 15 is a device installed.
　設定支援プログラム１５は、位置指令フィルタ３１内の各フィルタ３１ｘ（ｘ＝ａ～ｃ）についてのパラメータ設定作業を容易なものとするために開発したプログラムである。 The setting support program 15 is a program developed to facilitate parameter setting work for each filter 31x (x = a to c) in the position command filter 31.
　図５に、設定支援プログラム１５に従ってＣＰＵ１１が実行する設定支援処理の流れ図を示す。 FIG. 5 shows a flowchart of the setting support process executed by the CPU 11 in accordance with the setting support program 15.
　図示してあるように、設定支援プログラム１５に従った動作を開始したＣＰＵ１１は、まず、位置指令フィルタ３１内の各フィルタ３１ｘ（ｘ＝ａ～ｃ）の現在の設定を取得し、フィルタ状態情報としてＲＡＭ上に記憶する（ステップＳ１０１）。 As shown in the figure, the CPU 11 that has started the operation in accordance with the setting support program 15 first acquires the current settings of the filters 31x (x = a to c) in the position command filter 31 to obtain the filter status information. Is stored in the RAM (step S101).
　次いで、ＣＰＵ１１は、ディスプレイにメニュー画面を表示させる処理（ステップＳ１０２）を行う。このステップの処理で表示されるメニュー画面は、基本的には、第１～第３設定処理及びゲイン調整処理の中のいずれの処理を実行するかユーザに選択させるための画面である。ただし、詳細については後述するが、第１設定処理は、位置指令フィルタ３１内の１つのフィルタ３１ｘ（ｘ＝ａ～ｃ）を処理対象フィルタとして指定することが必要な処理となっており、第２、第３設定処理は、位置指令フィルタ３１内の２つのフィルタ３１ｘを処理対象フィルタとして指定することが必要な処理となっている。また、第１～第３指定処理は、位置指令フィルタが無効な場合についてもシミュレーションを行うか否かを指定できる処理ともなっている。そのため、メニュー画面には、そのような情報を設定するためのアイテムも設けられている。 Next, the CPU 11 performs a process of displaying a menu screen on the display (step S102). The menu screen displayed in the process of this step is basically a screen for allowing the user to select which of the first to third setting processes and the gain adjustment process is to be executed. However, although details will be described later, the first setting process is a process that requires one filter 31x (x = a to c) in the position command filter 31 to be designated as a processing target filter. The second and third setting processes are processes that require the two filters 31x in the position command filter 31 to be designated as processing target filters. Further, the first to third designation processes are processes that can designate whether or not to perform simulation even when the position command filter is invalid. Therefore, an item for setting such information is also provided on the menu screen.
　ステップＳ１０１の処理を終えたＣＰＵ１１は、入力装置（キーボード、マウス等）の操作により、いずれかの設定処理の実行指示又は設定支援処理（図５の処理）の終了指示が入力されるのを待機する（ステップＳ１０３）。 After completing the process in step S101, the CPU 11 waits for an instruction to execute any setting process or an instruction to end the setting support process (the process in FIG. 5) to be input by operating the input device (keyboard, mouse, etc.). (Step S103).
　第１～第３設定処理及びゲイン調整処理の中のいずれかの処理の実行指示が入力された場合（ステップＳ１０４；実行指示）、ＣＰＵ１１は、実行が指示された処理を実行する（ステップＳ１０５）。その後、ＣＰＵ１１は、ステップＳ１０２に戻って、再度、ディスプレイにメニュー画面を表示させる。そして、ＣＰＵ１１は、設定支援処理の終了指示が入力されたとき（ステップＳ１０５；終了）に、この設定支援処理を終了する。 When an execution instruction for any one of the first to third setting processes and the gain adjustment process is input (step S104; execution instruction), the CPU 11 executes the process instructed to execute (step S105). . Thereafter, the CPU 11 returns to step S102 to display the menu screen on the display again. Then, the CPU 11 ends the setting support process when an instruction to end the setting support process is input (step S105; end).
　以下、ステップＳ１０５にて実行される第１～第３設定処理について説明する。なお、ステップＳ１０５にて実行されるゲイン調整処理は、既存のゲイン調整処理と同内容の処理である。そのため、ゲイン調整処理の詳細説明は、省略する。 Hereinafter, the first to third setting processes executed in step S105 will be described. The gain adjustment process executed in step S105 is the same process as the existing gain adjustment process. Therefore, detailed description of the gain adjustment process is omitted.
　《第１設定処理》
　図６に、第１設定処理の流れ図を示す。 << First setting process >>
FIG. 6 shows a flowchart of the first setting process.
　図示してあるように、この第１設定処理を開始したＣＰＵ１１は、まず、所定パターンで時間変化する位置指令をサーボドライバ２０に供給しながら各位置指令に対する応答（エンコーダ４３の出力）をサーボドライバ２０から取得することにより、サーボシステムの応答特性を測定する（ステップＳ２０１）。ここで、サーボシステムとは、サーボドライバ２０と、モータ４１と、モータ４１により駆動される機械４２とにより構成されるシステムのことである。 As shown in the figure, the CPU 11 that has started the first setting process first supplies a response to each position command (output of the encoder 43) to the servo driver 20 while supplying a position command that changes with time in a predetermined pattern to the servo driver 20. By acquiring from 20, the response characteristic of the servo system is measured (step S201). Here, the servo system is a system including the servo driver 20, the motor 41, and the machine 42 driven by the motor 41.
　次いで、ＣＰＵ１１は、測定した応答特性とフィルタ状態情報とに基づき、処理対象フィルタのパラメータ値が異なる複数の仮想状況におけるサーボシステムの応答特性をシミュレートする（ステップＳ２０２）。なお、既に説明したように、処理対象フィルタとは、第１設定処理の実行を指示する前に、ユーザが処理対象として指定する、位置指令フィルタ３１内の１つのフィルタ３１ｘ（ｘ＝ａ～ｃ）のことである。 Next, the CPU 11 simulates the response characteristics of the servo system in a plurality of virtual situations where the parameter values of the processing target filter are different based on the measured response characteristics and filter state information (step S202). As already described, the processing target filter is one filter 31x (x = a to c) in the position command filter 31 that is designated as a processing target by the user before instructing the execution of the first setting process. ).
　ステップＳ２０２の処理は、サーボドライバ２０が線形システムであると仮定して行われる。具体的には、フィルタ状態情報が、処理対象フィルタが無効であることを示していた場合、ステップＳ２０２では、測定された応答特性に、各種パラメータ値の処理対象フィルタの伝達関数を適用することにより、複数の仮想状況におけるサーボシステムの応答特性が求められる。また、フィルタ状態情報が、処理対象フィルタが有効であることを示していた場合、ステップＳ２０２では、まず、応答特性測定時の処理対象フィルタのパラメータ値（フィルタ状態情報に含まれている値）から、応答特性測定時の処理対象フィルタの伝達関数の逆伝達関数が求められる。次いで、測定された応答特性に当該逆伝達関数を適用することにより、処理対象フィルタが無効である場合のサーボシステムの応答特性が求められる。そして、そのようにして求められた応答特性に各種パラメータ値の処理対象フィルタの伝達関数を適用することで、複数の仮想状況におけるサーボシステムの応答特性が求められる。 The processing in step S202 is performed assuming that the servo driver 20 is a linear system. Specifically, when the filter state information indicates that the processing target filter is invalid, in step S202, the transfer function of the processing target filter of various parameter values is applied to the measured response characteristics. The response characteristics of the servo system in a plurality of virtual situations are required. If the filter state information indicates that the processing target filter is valid, in step S202, first, from the parameter value of the processing target filter at the time of response characteristic measurement (the value included in the filter state information). Then, an inverse transfer function of the transfer function of the processing target filter at the time of response characteristic measurement is obtained. Next, by applying the inverse transfer function to the measured response characteristic, the response characteristic of the servo system when the processing target filter is invalid is obtained. Then, the response characteristics of the servo system in a plurality of virtual situations can be obtained by applying the transfer function of the processing target filter of various parameter values to the response characteristics thus obtained.
　ステップＳ２０２の処理を終えたＣＰＵ１１は、求めた各応答特性から、各仮想状況における指令遅延時間とオーバーシュート量とを特定する（ステップＳ２０３）。このステップの処理で特定されるオーバーシュート量は、図７Ａ及び図７Ｂに示したように、“位置指令が最終値となった後の応答の最大値－位置指令の最終値”である。また、ステップＳ２０３の処理で特定される指令遅延時間は、位置指令フィルタ３１による位置指令の時間遅れ量である。 CPU11 which finished the process of step S202 specifies the instruction | command delay time and overshoot amount in each virtual condition from each calculated response characteristic (step S203). As shown in FIGS. 7A and 7B, the overshoot amount specified by the processing in this step is “maximum value of response after position command becomes final value−final value of position command”. Further, the command delay time specified in the process of step S203 is a time delay amount of the position command by the position command filter 31.
　ステップＳ２０３の処理を終えたＣＰＵ１１は、特定した指令遅延時間とオーバーシュート量との関係を示すグラフをディスプレイの画面上に表示する（ステップＳ２０４）。なお、このステップの処理で表示されるグラフは、図８に示したように、グラフ上に、その１点を指定するためのポインタ（図８における白丸）が表示されたものである。また、位置指令フィルタが無効な場合についてもシミュレーションを行うことが指定されている場合、ＣＰＵ１１は、処理対象フィルタが無効である場合の指令遅延時間とオーバーシュート量で規定される座標位置に所定のマークが示されたグラフを表示する。 CPU11 which finished the process of step S203 displays the graph which shows the relationship between specified command delay time and overshoot amount on the screen of a display (step S204). As shown in FIG. 8, the graph displayed in the processing of this step is a graph in which a pointer (white circle in FIG. 8) for designating one point is displayed on the graph. In addition, when it is specified that the simulation is performed even when the position command filter is invalid, the CPU 11 sets a predetermined coordinate position at the command delay time and the overshoot amount when the processing target filter is invalid. Display the graph with the mark.
　ステップＳ２０４の処理を終えたＣＰＵ１１は、ユーザにより設定指示操作又は終了指示操作がなされるのを待機する（ステップＳ２０５）。ここで、設定指示操作とは、マウスのドラッグ＆ドロップ操作等によりグラフ上のポインタ位置を所望位置に変更する操作を含む所定の操作のことである。 CPU11 which finished the process of step S204 waits for a user to perform setting instruction | indication operation or completion | finish instruction | indication operation (step S205). Here, the setting instruction operation is a predetermined operation including an operation of changing the pointer position on the graph to a desired position by a mouse drag and drop operation or the like.
　ユーザにより設定指示操作がなされた場合（ステップＳ２０６；設定）、ＣＰＵ１１は、ユーザにより指定されたポインタ位置に対応するパラメータ値を処理対象フィルタに設定する（ステップＳ２０７）。より具体的には、ＣＰＵ１１は、サーボドライバ２０（制御部２３）との間で通信を行うことにより、ポインタ位置に対応するパラメータ値で、不揮発性メモリ２１上の処理対象フィルタのパラメータ値を書き換える。また、ＣＰＵ１１は、ステップＳ２０７にて、フィルタ状態情報内の処理対象フィルタのパラメータ値をポインタ位置に対応するパラメータ値に更新する処理も行う。そして、ＣＰＵ１１は、この第１設定処理を終了する。 When a setting instruction operation is performed by the user (step S206; setting), the CPU 11 sets a parameter value corresponding to the pointer position designated by the user in the processing target filter (step S207). More specifically, the CPU 11 rewrites the parameter value of the processing target filter on the nonvolatile memory 21 with the parameter value corresponding to the pointer position by communicating with the servo driver 20 (control unit 23). . In step S207, the CPU 11 also performs processing for updating the parameter value of the processing target filter in the filter state information to the parameter value corresponding to the pointer position. Then, the CPU 11 ends this first setting process.
　また、ユーザにより終了指示操作がなされた場合（ステップＳ２０６；終了）、ＣＰＵ１１は、ステップＳ２０７の処理を行うことなく、第１設定処理を終了する。そして、第１設定処理を終えたＣＰＵ１１は、ステップＳ１０２（図２）以降の処理を再び開始する。 Further, when an end instruction operation is performed by the user (step S206; end), the CPU 11 ends the first setting process without performing the process of step S207. Then, after completing the first setting process, the CPU 11 starts again the processes after step S102 (FIG. 2).
　《第２設定処理》
　図９に、第２設定処理の流れ図を示す。 << Second setting process >>
FIG. 9 shows a flowchart of the second setting process.
　図示してあるように、この第２設定処理を開始したＣＰＵ１１は、まず、ステップＳ２０１にて、上記したステップＳ１０１の処理と同じ処理を行う。 As shown in the figure, the CPU 11 that has started the second setting process first performs the same process as the process of step S101 described above in step S201.
　次いで、ＣＰＵ１１は、測定した応答特性とフィルタ状態情報とに基づき、ユーザにより指定された２つの処理対象フィルタの２つのパラメータ値の組合せが互いに異なる複数の仮想状況におけるサーボシステムの応答特性をシミュレートする（ステップＳ３０２）。このステップＳ３０２の処理は、使用される伝達関数（及び逆伝達関数）の数が２つであることを除けば、上記したステップＳ２０２の処理と同内容の処理である。 Next, the CPU 11 simulates the response characteristics of the servo system in a plurality of virtual situations in which the combinations of the two parameter values of the two processing target filters designated by the user are different from each other based on the measured response characteristics and the filter state information. (Step S302). The process of step S302 is the same process as the process of step S202 described above except that the number of transfer functions (and inverse transfer functions) used is two.
　その後、ＣＰＵ１１は、ステップＳ３０２の処理で求めた各応答特性から、各仮想状況における指令遅延時間とオーバーシュート量とを特定する（ステップＳ３０３）。次いで、ＣＰＵ１１は、指令遅延時間コンター図（以下、ＤＴコンター図と表記する）とオーバーシュート量コンター図（以下、ＯＳコンター図と表記する）とをディスプレイの画面上に表示する（ステップＳ３０４）。 Thereafter, the CPU 11 specifies the command delay time and the overshoot amount in each virtual situation from each response characteristic obtained in the process of step S302 (step S303). Next, the CPU 11 displays a command delay time contour diagram (hereinafter referred to as a DT contour diagram) and an overshoot amount contour diagram (hereinafter referred to as an OS contour diagram) on the display screen (step S304).
　より具体的には、例えば、処理対象フィルタが、ローパスフィルタ３１ａと制振フィルタ３１ｂ又は３１ｃである場合、ステップＳ３０４において、ＣＰＵ１１は、ディスプレイの画面上に、図１０に示したようなＤＴコンター図とＯＳコンター図とを表示する。すなわち、ＣＰＵ１１は、ローパスフィルタ３１ａのパラメータ値であるＬＰＦ周波数を横軸とし、制振フィルタ３１ｂ又は３１ｃのパラメータ値である制振制御周波数を縦軸とし、オーバーシュート量を色（図９では輝度）で表したＯＳコンター図とをディスプレイの画面上に表示する。 More specifically, for example, when the processing target filters are the low-pass filter 31a and the damping filter 31b or 31c, in step S304, the CPU 11 displays a DT contour diagram as shown in FIG. 10 on the display screen. And OS contour map are displayed. That is, the CPU 11 sets the LPF frequency, which is the parameter value of the low-pass filter 31a, as the horizontal axis, the damping control frequency, which is the parameter value of the damping filter 31b or 31c, as the vertical axis, and the overshoot amount as a color (in FIG. ) And the OS contour map expressed in () are displayed on the display screen.
　また、ステップＳ３０４にて、ＣＰＵ１１は、各コンター図の同一座標位置にポインタ（図１０における白丸）を表示する処理も行う。なお、位置指令フィルタが無効な場合についてもシミュレーションを行うことが指定されている場合、ＣＰＵ１１は、一方の処理対象フィルタが無効である場合と双方の処理対象フィルタが無効である場合の指令遅延時間も示されたＤＴコンター図と、一方の処理対象フィルタが無効である場合と双方の処理対象フィルタが無効である場合のオーバーシュート量が示されたＯＳコンター図とを表示する。 In step S304, the CPU 11 also performs a process of displaying a pointer (white circle in FIG. 10) at the same coordinate position in each contour diagram. When it is specified that the simulation is performed even when the position command filter is invalid, the CPU 11 determines the command delay time when one of the processing target filters is invalid and when both the processing target filters are invalid. DT contour diagram is also shown, and an OS contour diagram showing the amount of overshoot when one of the processing target filters is invalid and when both processing target filters are invalid are displayed.
　ステップＳ３０４（図９）の処理を終えたＣＰＵ１１は、ユーザによって、設定指示操作、表示形態変更指示操作又は終了指示操作がなされるのを待機する（ステップＳ３０５）。 CPU11 which finished the process of step S304 (FIG. 9) waits for a user to perform setting instruction | indication operation, display form change instruction | indication operation, or completion | finish instruction | indication operation (step S305).
　設定指示操作は、マウスのドラッグ＆ドロップ操作等によりポインタの位置を所望位置に変更する操作を含む所定の操作である。なお、一方のコンター図上のポインタの位置の変更操作がなされた場合、ＣＰＵ１１は、他方のコンター図上のポインタの位置も変更する。 The setting instruction operation is a predetermined operation including an operation of changing the position of the pointer to a desired position by a mouse drag and drop operation or the like. Note that when an operation for changing the position of the pointer on one contour diagram is performed, the CPU 11 also changes the position of the pointer on the other contour diagram.
　ユーザにより設定指示操作がなされた場合（ステップＳ３０６；設定）、ＣＰＵ１１は、その時点のポインタの位置に対応する２パラメータ値を２つの処理対象フィルタに設定する（ステップＳ３１０）。より具体的には、例えば、処理対象フィルタがローパスフィルタ３１ａと制振フィルタ３１ｂである場合（図１０参照）、ＣＰＵ１１は、サーボドライバ２０（制御部２３）と通信を行うことにより、ポインタのＸ座標値で、不揮発性メモリ２１上のローパスフィルタ３１ａのパラメータ値を書き換えると共に、ポインタのＹ座標値で不揮発性メモリ２１上の制振フィルタ３１ｂのパラメータ値を書き換える。 When a setting instruction operation is performed by the user (step S306; setting), the CPU 11 sets two parameter values corresponding to the position of the pointer at that time in the two processing target filters (step S310). More specifically, for example, when the processing target filters are the low-pass filter 31a and the vibration suppression filter 31b (see FIG. 10), the CPU 11 communicates with the servo driver 20 (the control unit 23), so that the pointer X The parameter value of the low-pass filter 31a on the nonvolatile memory 21 is rewritten with the coordinate value, and the parameter value of the vibration suppression filter 31b on the nonvolatile memory 21 is rewritten with the Y coordinate value of the pointer.
　ステップＳ３１０にて、ＣＰＵ１１は、フィルタ状態情報内の２処理対象フィルタのパラメータ値を現在の値に更新する処理も行う。そして、ステップＳ３１０の処理を終えたＣＰＵ１１は、この第２設定処理を終了する。 In step S310, the CPU 11 also performs a process of updating the parameter values of the two processing target filters in the filter state information to the current values. And CPU11 which finished the process of step S310 complete | finishes this 2nd setting process.
　表示形態変更指示操作は、いずれかのコンター図（図１０参照）のＸ軸又はＹ軸上の１点を指定する操作である。以下、１点が指定された軸の方のパラメータ値のことを非注目パラメータと表記し、ユーザが指定した点のパラメータ値のことを指定値と表記する。 The display form change instruction operation is an operation of designating one point on the X axis or the Y axis of any contour diagram (see FIG. 10). Hereinafter, the parameter value of the axis for which one point is designated is referred to as a non-attention parameter, and the parameter value at the point designated by the user is referred to as a designated value.
　表示形態変更指示操作がなされた場合、（ステップＳ３０６；表示形態変更）、ＣＰＵ１１は、非注目パラメータの値が指定値である場合における指令遅延時間とオーバーシュート量との関係を示すグラフをディスプレイの画面上に表示する（ステップＳ３０７）。すなわち、ＣＰＵ１１は、処理対象フィルタがローパスフィルタ３１ａと制振フィルタ３１ｂであり（図１０参照）、いずれかのコンター図のＸ軸の１点が指定された場合には、ローパスフィルタ３１ａの遮断周波数が指定された点の周波数である場合における指令遅延時間とオーバーシュート量との関係を示すグラフ、例えば、図１１Ａに示したようなグラフをディスプレイの画面上に表示する。また、処理対象フィルタがローパスフィルタ３１ａと制振フィルタ３１ｂであり、いずれかのコンター図のＹ軸の１点が指定された場合には、制振フィルタ３１ｂの制振制御周波数が指定された点の周波数である場合における指令遅延時間とオーバーシュート量との関係を示すグラフ、例えば、図１１Ｂに示したようなグラフをディスプレイの画面上に表示する。 When the display form change instruction operation is performed (step S306; display form change), the CPU 11 displays a graph showing the relationship between the command delay time and the overshoot amount when the value of the non-attention parameter is a specified value. It is displayed on the screen (step S307). That is, the CPU 11 has a low-pass filter 31a and a vibration suppression filter 31b as processing target filters (see FIG. 10), and when one point on the X-axis of any contour diagram is designated, the cutoff frequency of the low-pass filter 31a. A graph showing the relationship between the command delay time and the overshoot amount in the case where is the frequency of the designated point, for example, a graph as shown in FIG. 11A is displayed on the display screen. In addition, when the filters to be processed are the low-pass filter 31a and the vibration suppression filter 31b and one point on the Y axis in any of the contour diagrams is specified, the vibration suppression control frequency of the vibration suppression filter 31b is specified. A graph showing the relationship between the command delay time and the overshoot amount, for example, a graph as shown in FIG. 11B is displayed on the display screen.
　なお、図１１Ａ、図１１Ｂに示してあるように、ステップＳ３０７にてＣＰＵ１１が表示するグラフ上にも、ポインタが表示される。 As shown in FIGS. 11A and 11B, a pointer is also displayed on the graph displayed by the CPU 11 in step S307.
　図９に戻って、第２設定処理の説明を続ける。
　ステップＳ３０７の処理を終えたＣＰＵ１１は、マウスのドラッグ＆ドロップ操作等によりグラフ上のポインタ位置を所望位置に変更する操作を含む設定指示操作又は終了指示操作がユーザによりなされるのを待機する（ステップＳ３０８）。 Returning to FIG. 9, the description of the second setting process will be continued.
After completing the process of step S307, the CPU 11 waits for the user to perform a setting instruction operation or an end instruction operation including an operation of changing the pointer position on the graph to a desired position by a mouse drag and drop operation or the like (step S307). S308).
　ＣＰＵ１１は、ユーザにより終了指示操作がなされた場合（ステップＳ３０９；終了）には、ステップＳ３０４以降の処理を再び実行する。 When the end instruction operation is performed by the user (step S309; end), the CPU 11 executes the processes after step S304 again.
　一方、ユーザにより設定指示操作がなされた場合（ステップＳ３０９；設定）、ＣＰＵ１１は、ユーザが表示形態変更指示操作及びポインタ操作で指定した２パラメータ値のそれぞれを、対応する処理対象フィルタに設定する（ステップＳ３１０）。また、ＣＰＵ１１は、フィルタ状態情報を更新する処理も行う（ステップＳ３１０）。ステップＳ３１０の処理を終えたＣＰＵ１１は、ステップＳ３０４以降の処理を開始する。そして、ＣＰＵ１１は、ＤＴコンター図及びＯＳコンター図の表示中に、終了指示操作がなされたとき（ステップＳ３０６；終了）に、この第２設定処理を終了して、設定支援処理（図５）のステップＳ１０２以降の処理を開始する。 On the other hand, when a setting instruction operation is performed by the user (step S309; setting), the CPU 11 sets each of the two parameter values specified by the user through the display form change instruction operation and the pointer operation in the corresponding processing target filter ( Step S310). The CPU 11 also performs a process for updating the filter state information (step S310). CPU11 which finished the process of step S310 starts the process after step S304. Then, when an end instruction operation is performed during display of the DT contour diagram and the OS contour diagram (step S306; end), the CPU 11 ends the second setting process and performs the setting support process (FIG. 5). The process after step S102 is started.
　《第３設定処理》
　図１２に、第３設定処理の流れ図を示す。 << Third setting process >>
FIG. 12 shows a flowchart of the third setting process.
　図示してあるように、この第３設定処理を開始したＣＰＵ１１は、まず、ステップＳ４０１にて、指令遅延時間等特定処理を行う。この指令遅延時間等特定処理は、第２設定処理（図９）のステップＳ３０１～Ｓ３０３の処理と同内容の処理である。 As shown in the figure, the CPU 11 that has started the third setting process first performs a specified process such as a command delay time in step S401. This specifying process such as the command delay time is the same as the process in steps S301 to S303 of the second setting process (FIG. 9).
　指令遅延時間等特定処理を終えたＣＰＵ１１は、指令遅延時間等特定処理が完了した旨のメッセージをディスプレイの画面上に表示した後、測定開始指示が入力されるのを待機する（ステップＳ４０２）。設定支援装置１０のユーザは、上記メッセージが表示された場合、機械４５の状態（イナーシャ値が関係する状態）を変更する作業を行ってから、測定開始指示を入力する。 The CPU 11 that has completed the specified process such as the command delay time displays a message indicating that the specified process such as the command delay time has been completed on the display screen, and then waits for a measurement start instruction to be input (step S402). When the above message is displayed, the user of the setting support apparatus 10 performs an operation of changing the state of the machine 45 (a state related to the inertia value) and then inputs a measurement start instruction.
　測定開始指示が入力されると、ＣＰＵ１１は、ステップＳ４０３にて、第２設定処理のステップＳ３０１～Ｓ３０３の処理と同内容の指令遅延時間等特定処理を再び行う。 When the measurement start instruction is input, in step S403, the CPU 11 again performs the specific process such as the command delay time, which is the same as the process in steps S301 to S303 of the second setting process.
　ステップＳ４０３の処理を終えたＣＰＵ１１は、続くステップＳ４０４にて、まず、２回の指令遅延時間等特定処理にて特定された指令遅延時間及びオーバーシュート量から、仮想状況毎に、指令遅延時間の最悪値とオーバーシュート量に最悪値を特定する。次いで、ＣＰＵ１１は、指令遅延時間最悪値コンター図（以下、ＤＴＷコンター図と表記する）とオーバーシュート量最悪値コンター図（以下、ＯＳＷコンター図と表記する）とをディスプレイの画面上に表示する。ここで、ＤＴＷコンター図とは、一方の処理対象フィルタのパラメータ値を横軸とし、他方の処理対象フィルタのパラメータ値を縦軸とし、指令遅延時間の最悪値を色で表したコンター図のことである。また、ＯＳＷコンター図とは、一方の処理対象フィルタのパラメータ値を横軸とし、他方の処理対象フィルタのパラメータ値を縦軸とし、オーバーシュート量の最悪値を色で表したコンター図のことである。 In step S404, the CPU 11 that has finished the process of step S403 first calculates the command delay time for each virtual situation from the command delay time and the overshoot amount specified in the two specific processing processes such as the command delay time. The worst value is specified for the worst value and the overshoot amount. Next, the CPU 11 displays a command delay time worst value contour diagram (hereinafter referred to as a DTW contour diagram) and an overshoot amount worst value contour diagram (hereinafter referred to as an OSW contour diagram) on a display screen. Here, the DTW contour diagram is a contour diagram in which the parameter value of one processing target filter is on the horizontal axis, the parameter value of the other processing target filter is on the vertical axis, and the worst value of the command delay time is expressed in color. It is. The OSW contour diagram is a contour diagram in which the parameter value of one processing target filter is on the horizontal axis, the parameter value of the other processing target filter is on the vertical axis, and the worst value of the overshoot amount is expressed in color. is there.
　すなわち、処理対象フィルタが、ローパスフィルタ３１ａと制振フィルタ３１ｂである状況下、ステップＳ４０１の指令遅延時間等特定処理にてＯＳコンター図が図１３（Ａ）に示したものとなる結果が得られ、ステップＳ４０３の指令遅延時間等特定処理にてＯＳコンター図が図１３（Ｂ）に示したものとなる結果が得られた場合、ＯＳＷコンター図としては、図１３（Ｃ）に示したようなものが表示される。なお、処理対象フィルタの一方が、ローパスフィルタ３１ａである場合、ステップＳ４０１の指令遅延時間等特定処理とステップＳ４０３の指令遅延時間等特定処理とで、各仮想状況について同じ指令遅延時間が特定されることになる。そのため、処理対象フィルタの一方がローパスフィルタ３１ａである場合、ステップＳ４０３にて、ＣＰＵ１１は、指令遅延時間の最悪値を求めることなく、ＤＴＷコンター図としてＤＴコンター図を表示する。 That is, under the situation where the processing target filters are the low-pass filter 31a and the vibration suppression filter 31b, the result that the OS contour diagram is as shown in FIG. 13A is obtained in the specific processing such as the command delay time in step S401. When the result that the OS contour diagram becomes the one shown in FIG. 13B is obtained by the specific processing such as the command delay time in step S403, the OSW contour diagram is as shown in FIG. 13C. Things are displayed. When one of the processing target filters is the low-pass filter 31a, the same command delay time is specified for each virtual situation in the command delay time specification process in step S401 and the command delay time specification process in step S403. It will be. Therefore, when one of the processing target filters is the low-pass filter 31a, in step S403, the CPU 11 displays a DT contour diagram as a DTW contour diagram without obtaining the worst value of the command delay time.
　一方、処理対象フィルタが制振フィルタ３１ｂと制振フィルタ３１ｃである場合、ＣＰＵ１１は、仮想状況毎に指令遅延時間の最悪値及びオーバーシュート量の最悪値を特定し、それえの特定結果に基づき、例えば、図１４に示したようなＯＳＷコンター図及びＤＴＷコンター図をディスプレイの画面上に表示する。 On the other hand, when the processing target filters are the vibration suppression filter 31b and the vibration suppression filter 31c, the CPU 11 specifies the worst value of the command delay time and the worst value of the overshoot amount for each virtual situation, and based on the identification results. For example, an OSW contour diagram and a DTW contour diagram as shown in FIG. 14 are displayed on the screen of the display.
　そして、ステップＳ４０４の処理を終えたＣＰＵ１１は、ステップＳ４０５～Ｓ４１０にて、それぞれ、第２設定処理（図９）のステップＳ３０５～Ｓ３１０の処理と同内容の処理を行い、終了指示操作がなされたときに（ステップＳ４０６；終了）、この第３設定処理を終了して、設定支援処理（図５）のステップＳ１０２以降の処理を開始する。 Then, after completing the process of step S404, the CPU 11 performs the same process as the process of steps S305 to S310 of the second setting process (FIG. 9) in steps S405 to S410, and performs an end instruction operation. Sometimes (step S406; end), the third setting process is ended, and the process after step S102 of the setting support process (FIG. 5) is started.
　以上、説明したように、本実施形態に係る設定支援装置１０は、ユーザに、オーバーシュート量と指令遅延時間との関係を示すグラフ（図８）を提示して、位置指令フィルタ内の処理対象フィルタに設定するパラメータ値をユーザに指定させる第１設定処理を実行することができる。また、設定支援装置１０は、ユーザに、２処理対象フィルタのパラメータ値の組合せとオーバーシュート量との関係を示すＯＳコンター図及び２処理対象フィルタのパラメータ値の組合せと指令遅延時間との関係を示すＤＴコンター図（図１０）を提示して、位置指令フィルタ内の２処理対象フィルタに設定するパラメータ値をユーザに指定させる第２設定処理を実行することができる。さらに、設定支援装置１０は、ユーザに、オーバーシュート量の最悪値を示すＯＳＷコンター図及び指令遅延時間最悪値を示すＤＴＷコンター図（図１４）を提示して、位置指令フィルタ内の２処理対象フィルタに設定するパラメータ値をユーザに指定させる第３設定処理を実行することもできる。従って、設定支援装置１０を用いておけば、デメリットも考慮した形でユーザが位置指令フィルタ３１内の１つ又は２つのフィルタの設定を行えることになる。 As described above, the setting support apparatus 10 according to the present embodiment presents the graph (FIG. 8) showing the relationship between the overshoot amount and the command delay time to the user, and the processing target in the position command filter A first setting process that allows the user to specify a parameter value to be set in the filter can be executed. Further, the setting support apparatus 10 gives the user an OS contour diagram showing the relationship between the parameter value combination of the two processing target filter and the overshoot amount, and the relationship between the parameter value combination of the two processing target filter and the command delay time. A DT contour diagram (FIG. 10) to be shown can be presented, and the second setting process can be executed to allow the user to specify parameter values to be set in the two process target filters in the position command filter. Furthermore, the setting support device 10 presents the OSW contour diagram indicating the worst value of the overshoot amount and the DTW contour diagram (FIG. 14) indicating the worst value of the command delay time to the user, and performs two processing targets in the position command filter. It is also possible to execute a third setting process that allows the user to specify a parameter value to be set in the filter. Therefore, if the setting support device 10 is used, the user can set one or two filters in the position command filter 31 in consideration of the disadvantages.
　さらに、設定支援装置１０は、ゲイン調整処理（図５；Ｓ１０５）を実行可能に構成されている。従って、設定支援装置１０によれば、ゲイン調整処理で振動が発生した場合やゲイン調整処理を行う前に、振動を抑制できる状態に位置指令フィルタ３１を調整してから、サーボドライバ２０のゲインを調整／再調整するといったことが可能となる。 Furthermore, the setting support device 10 is configured to be able to execute gain adjustment processing (FIG. 5; S105). Therefore, according to the setting support device 10, when vibration occurs in the gain adjustment process or before the gain adjustment process, the position command filter 31 is adjusted to a state where vibration can be suppressed, and then the gain of the servo driver 20 is increased. Adjustment / readjustment can be performed.
　《変形例》
　上記した設定支援装置１０は、各種の変形を行えるものである。例えば、ユーザにグラフ／コンター図により提示する情報は、オーバーシュート量の指標値（オーバーシュート量の多寡を表す値）と、位置指令フィルタよる位置指令の時間遅れ量の指標値（位置指令フィルタよる位置指令の時間遅れ量の長短を表す値）とであれば良い。従って、オーバーシュート量の代わりに、位置指令入力に対する応答の最大値等を採用してもよい。また、上記した指令遅延時間の代わりに、整定時間等を採用してもよい。 <Modification>
The above-described setting support device 10 can perform various modifications. For example, information to be presented to the user by a graph / contour diagram includes an overshoot amount index value (a value indicating the amount of overshoot amount) and a position command time delay index value by the position command filter (by the position command filter). It may be a value representing the length of the time delay amount of the position command. Therefore, instead of the overshoot amount, the maximum value of the response to the position command input may be adopted. Further, a settling time or the like may be employed instead of the command delay time described above.
　設定支援装置１０から、パラメータ値の処理対象フィルタへの設定機能を取り除いて、パラメータ値の処理対象フィルタへの設定が設定支援装置１０とは異なる装置で行われるようにしておいても良い。なお、設定支援装置１０から上記設定機能を取り除く場合には、第１設定処理（図６）を、ポインタ位置のパラメータ値を表示する処理に変形し、第２、第３設定処理を、設定指示を受け付けない処理に変形しておけば良い。 The setting function for the parameter value processing target filter may be removed from the setting support apparatus 10 so that the parameter value processing target filter is set by a device different from the setting support apparatus 10. When the setting function is removed from the setting support apparatus 10, the first setting process (FIG. 6) is transformed into a process for displaying the parameter value at the pointer position, and the second and third setting processes are changed to setting instructions. It may be transformed into a process that does not accept.
　設定支援装置１０が応答特性を得るためにサーボドライバ２０から取得する情報は、モータ４１の速度や加速度であっても、機械４２の位置、速度又は加速度であっても良い。また、図１５に示したように、モータ４１の位置（"PosMotor"）が位置指令（"PosCmd"）に対してオーバーシュート量が殆どない形で変化しても、機械４２の位置（"PosLoad"）が振動することがあり得る。従って、第１～第３設定処理を、機械４２の位置のオーバーシュート量もユーザに提示する処理に変形しておいても良い。 The information acquired from the servo driver 20 in order for the setting support apparatus 10 to obtain response characteristics may be the speed and acceleration of the motor 41 or the position, speed or acceleration of the machine 42. As shown in FIG. 15, even if the position of the motor 41 ("PosMotor") changes with little overshoot with respect to the position command ("PosCmd"), the position of the machine 42 ("PosLoad" ") Can vibrate. Therefore, the first to third setting processes may be modified into a process for presenting the amount of overshoot of the position of the machine 42 to the user.
　設定支援装置１０やサーボドライバ２０の構成が上記したものとは異なっていても良いことや、設定支援装置１０を、上記したものとは形態が異なるコンター図（例えば、等値線が表示されるコンター図）を表示するものに変形しても良いことは、当然のことである。 The configuration of the setting support device 10 and the servo driver 20 may be different from those described above, or the contour diagram of the setting support device 10 having a form different from that described above (for example, an isoline is displayed. Of course, it may be modified to display a contour diagram).
　１０　設定支援装置
　１１　ＣＰＵ
　１２　ＨＤＤ
　１５　設定支援プログラム
　１８　ＣＤ－ＲＯＭ
　２０　サーボドライバ
　２１　不揮発性メモリ
　２２　モータ駆動回路
　２３　制御部
　３１ａ　ローパスフィルタ
　３１　位置指令フィルタ
　３１ｂ、３１ｃ　制振フィルタ
　３３　位置制御器
　３５　速度制御器
　３６　電流制御器
　３７　速度検出器
　４１　モータ
　４２　エンコーダ
　４５　機械 10 Setting Support Device 11 CPU
12 HDD
15 Setting support program 18 CD-ROM
DESCRIPTION OF SYMBOLS 20 Servo driver 21 Non-volatile memory 22 Motor drive circuit 23 Control part 31a Low pass filter 31 Position command filter 31b, 31c Damping filter 33 Position controller 35 Speed controller 36 Current controller 37 Speed detector 41 Motor 42 Encoder 45 Machine

Claims (14)

  1. 　第１パラメータを有する第１フィルタを含む、サーボドライバ内の位置指令フィルタの設定を支援する設定支援装置であって、
    　前記サーボドライバと前記サーボドライバにより制御されるサーボモータと前記サーボモータにより駆動される被駆動体とを含むサーボシステムの応答特性を測定する測定手段と、
    　前記測定手段により測定された前記サーボシステムの応答特性と、当該応答特性の測定時における前記第１フィルタの動作状態を示す情報とに基づき、前記第１パラメータの値が異なる複数の状況における前記サーボシステムの応答特性をシミュレートし、各状況における前記サーボシステムの応答特性のシミュレート結果に基づき、各状況におけるオーバーシュート量の指標値である第１指標値及び前記位置指令フィルタよる位置指令の時間遅れ量の指標値である第２指標値を特定する特定手段と、
    　前記特定手段により特定された各状況における前記第１指標値及び前記第２指標値に基づき、ディスプレイの画面上に、前記第１指標値と前記第２指標値との関係を示すグラフであって、前記第１指標値、前記第２指標値を、それぞれ、縦軸及び横軸の中の一方、他方としたグラフを表示する表示制御手段と、
    　前記グラフ上からユーザにより指定された点に対応する前記第１パラメータの値を前記第１フィルタの前記第１パラメータに設定する設定手段と、
    　を備えることを特徴とする設定支援装置。     A setting support device for supporting setting of a position command filter in a servo driver, including a first filter having a first parameter,
    Measuring means for measuring response characteristics of a servo system including the servo driver, a servo motor controlled by the servo driver, and a driven body driven by the servo motor;
    The servo in a plurality of situations in which the value of the first parameter is different based on the response characteristic of the servo system measured by the measuring means and information indicating the operation state of the first filter at the time of measurement of the response characteristic. The response characteristic of the system is simulated, and based on the simulation result of the response characteristic of the servo system in each situation, the first index value that is the index value of the overshoot amount in each situation and the time of the position command by the position command filter A specifying means for specifying a second index value that is an index value of the delay amount;
    FIG. 5 is a graph showing a relationship between the first index value and the second index value on a display screen based on the first index value and the second index value in each situation specified by the specifying means; Display control means for displaying a graph with the first index value and the second index value as one of the vertical axis and the horizontal axis, respectively,
    Setting means for setting a value of the first parameter corresponding to a point designated by the user from the graph to the first parameter of the first filter;
    A setting support apparatus comprising:
  2. 　第１パラメータを有する第１フィルタと第２パラメータを有する第２フィルタとを含む、サーボドライバ内の位置指令フィルタの設定を支援する設定支援装置であって、
    　前記サーボドライバと前記サーボドライバにより制御されるサーボモータと前記サーボモータにより駆動される被駆動体とを含むサーボシステムの応答特性を測定する測定手段と、
    　前記測定手段により測定された前記サーボシステムの応答特性と、当該応答特性の測定時における前記第１フィルタの動作状態を示す情報とに基づき、前記第１パラメータの値と前記第２パラメータの値の組合せが互いに異なる複数の状況における前記サーボシステムの応答特性をシミュレートし、各状況における前記サーボシステムの応答特性のシミュレート結果に基づき、各状況におけるオーバーシュート量の指標値である第１指標値及び前記位置指令フィルタよる位置指令の時間遅れ量の指標値である第２指標値を特定する特定手段と、
    　前記特定手段により特定された各状況における前記第１指標値及び前記第２指標値に基づき、ディスプレイの画面上に、前記第１パラメータの値と前記第２パラメータの値の組み合わせと前記第１指標値と間の関係を示す第１画像情報、及び、前記第１パラメータの値と前記第２パラメータの値の組み合わせと前記第２指標値と間の関係を示す第２画像情報を表示する表示制御手段と、
    　を備えることを特徴とする設定支援装置。     A setting support device for supporting setting of a position command filter in a servo driver, including a first filter having a first parameter and a second filter having a second parameter,
    Measuring means for measuring response characteristics of a servo system including the servo driver, a servo motor controlled by the servo driver, and a driven body driven by the servo motor;
    Based on the response characteristic of the servo system measured by the measuring means and information indicating the operating state of the first filter at the time of measurement of the response characteristic, the value of the first parameter and the value of the second parameter A first index value that is an index value of an overshoot amount in each situation is simulated based on a simulation result of the response characteristics of the servo system in each situation, in which the response characteristics of the servo system in a plurality of situations with different combinations are simulated. And a specifying means for specifying a second index value that is an index value of a time delay amount of the position command by the position command filter;
    Based on the first index value and the second index value in each situation specified by the specifying means, a combination of the value of the first parameter and the value of the second parameter on the display screen and the first index Display control for displaying first image information indicating a relationship between values, and second image information indicating a relationship between a combination of the first parameter value and the second parameter value and the second index value Means,
    A setting support apparatus comprising:
  3. 　前記表示制御手段は、前記第１画像情報として、前記第１パラメータの値、前記第２パラメータの値を、それぞれ、縦軸及び横軸の中の一方、他方とし、前記第１指標値を色又は輝度で表す第１コンター図を表示し、前記第２画像情報として、前記第１パラメータの値、前記第２パラメータの値を、それぞれ、縦軸及び横軸の中の一方、他方とし、前記第２指標値を色又は輝度で表す第２コンター図を表示する、
    　ことを特徴とする請求項２に記載の設定支援装置。     The display control means uses the first parameter value and the second parameter value as one of the vertical axis and the horizontal axis, respectively, as the first image information, and the first index value as a color. Alternatively, a first contour diagram expressed by luminance is displayed, and the second image information includes the first parameter value and the second parameter value as one of the vertical axis and the horizontal axis, respectively, Displaying a second contour diagram representing the second index value in color or brightness;
    The setting support apparatus according to claim 2.
  4. 　前記第１及び第２画像情報が前記ディスプレイの画面上に表示されている状態でユーザに前記第１パラメータの値である第１設定値及び前記第２パラメータの値である第２設定値を指定させて、指定された前記第１設定値、前記第２設定値を、それぞれ、前記第１フィルタの前記第１パラメータ、前記第２フィルタの前記第２パラメータに設定する設定手段を、さらに備えることを特徴とする請求項２又は３に記載の設定支援装置。 A first setting value that is a value of the first parameter and a second setting value that is a value of the second parameter are specified to the user in a state where the first and second image information is displayed on the screen of the display. And setting means for setting the designated first setting value and the second setting value to the first parameter of the first filter and the second parameter of the second filter, respectively. The setting support apparatus according to claim 2 or 3, wherein
  5. 　前記設定手段は、ユーザにより指定された前記第１コンター図又は前記第２コンター図上の位置に対応する前記第１パラメータの値、前記第２パラメータの値を、それぞれ、前記第１設定値、前記第２設定値として取り扱う、
    　ことを特徴とする、請求項３を引用する請求項４に記載の設定支援装置。     The setting means sets the value of the first parameter and the value of the second parameter corresponding to the position on the first contour map or the second contour map designated by the user to the first set value, Treat as the second set value,
    The setting support apparatus according to claim 4, wherein the setting support apparatus is cited from claim 3.
  6. 　前記特定手段は、さらに、前記第１フィルタが無効とされている１つ以上の状況における前記第１指標値及び前記第２指標値と、前記第２フィルタが無効とされている１つ以上の状況における前記第１指標値及び前記第２指標値とを、特定する、
    　ことを特徴とする請求項２から５のいずれか一項に記載の設定支援装置。     The specifying means further includes the first index value and the second index value in one or more situations in which the first filter is invalidated, and one or more in which the second filter is invalidated. Identifying the first index value and the second index value in a situation;
    The setting support apparatus according to any one of claims 2 to 5, wherein
  7. 　前記被駆動体の状態が第１状態であるときに前記測定手段により測定された前記サーボシステムの応答特性と、当該応答特性の測定時における前記第１フィルタの動作状態を示す情報とに基づき、前記特定手段により特定された前記複数の状況のそれぞれの状況における前記第１指標値及び前記第２指標値と、前記被駆動体の状態が前記第１状態とは異なる第２状態であるときに前記測定手段により測定された前記サーボシステムの応答特性と、当該応答特性の測定時における前記第１フィルタの動作状態を示す情報とに基づき、前記特定手段により特定された前記複数の状況のそれぞれの状況における前記第１指標値及び前記第２指標値とに基づき、各状況における前記第１指標値の最悪値及び前記第２指標値の最悪値を特定し、ディスプレイの画面上に、前記第１パラメータの値と前記第２パラメータの値の組み合わせと前記第１指標値の最悪値と間の関係を示す第３画像情報、及び、前記第１パラメータの値と前記第２パラメータの値の組み合わせと前記第２指標値の最悪値と間の関係を示す第４画像情報を表示する第２表示制御手段と、
    　をさらに備える、
    　ことを特徴とする請求項２から６のいずれか一項に記載の設定支援装置。     Based on the response characteristic of the servo system measured by the measurement means when the state of the driven body is the first state, and information indicating the operation state of the first filter at the time of measurement of the response characteristic, When the first index value and the second index value in each of the plurality of situations specified by the specifying means and the state of the driven body are different from the first state Based on the response characteristic of the servo system measured by the measuring means and information indicating the operating state of the first filter at the time of measuring the response characteristic, each of the plurality of situations specified by the specifying means Based on the first index value and the second index value in the situation, the worst value of the first index value and the worst value of the second index value in each situation are specified, and the display A third image information indicating a relationship between a combination of the value of the first parameter and the value of the second parameter and a worst value of the first index value, and a value of the first parameter; Second display control means for displaying fourth image information indicating a relationship between the combination of the second parameter values and the worst value of the second index value;
    Further comprising
    The setting support apparatus according to any one of claims 2 to 6, wherein
  8. 　前記第３及び第４画像情報が前記ディスプレイの画面上に表示されている状態でユーザに前記第１パラメータの値及び前記第２パラメータの値を指定させて、指定された前記第１パラメータの値、前記第２パラメータの値を、それぞれ、前記第１フィルタの前記第１パラメータ、前記第２フィルタの前記第２パラメータに設定する第２設定手段と、
    　をさらに備える、
    　ことを特徴とする請求項７に記載の設定支援装置。     The value of the first parameter specified by allowing the user to specify the value of the first parameter and the value of the second parameter in a state where the third and fourth image information is displayed on the screen of the display. , Second setting means for setting the value of the second parameter to the first parameter of the first filter and the second parameter of the second filter, respectively.
    Further comprising
    The setting support apparatus according to claim 7.
  9. 　前記第１フィルタが、ローパスフィルタであり、
    　前記第２フィルタが、制振フィルタである、
    　ことを特徴とする請求項２から８のいずれか一項に記載の設定支援装置。     The first filter is a low-pass filter;
    The second filter is a damping filter;
    The setting support apparatus according to any one of claims 2 to 8, wherein
  10. 　前記第１フィルタ、前記第２フィルタの双方が、制振フィルタである、
    　ことを特徴とする請求項２から８のいずれか一項に記載の設定支援装置。     Both the first filter and the second filter are vibration suppression filters.
    The setting support apparatus according to any one of claims 2 to 8, wherein
  11. 　前記測定手段は、位置指令に対する応答として、前記モータの位置、速度及び加速度と前記被駆動体の位置、速度及び加速度の中のいずれかを測定することで、前記サーボシステムの応答特性を測定する、
    　ことを特徴とする請求項１から１０のいずれか一項に記載の設定支援装置。     The measuring means measures the response characteristic of the servo system by measuring one of the position, speed and acceleration of the motor and the position, speed and acceleration of the driven body as a response to the position command. ,
    The setting support apparatus according to any one of claims 1 to 10, wherein the setting support apparatus is configured as described above.
  12. 　前記サーボドライバのゲインを調整するゲイン調整手段をさらに備える
    　ことを特徴とする請求項１から１１のいずれか一項に記載の設定支援装置。     The setting support apparatus according to any one of claims 1 to 11, further comprising gain adjusting means for adjusting a gain of the servo driver.
  13. 　第１パラメータを有する第１フィルタを含む、サーボドライバ内の位置指令フィルタの設定を支援する設定支援プログラムであって、
    　前記サーボドライバと接続されたコンピュータに、
    　前記サーボドライバと前記サーボドライバにより制御されるサーボモータと前記サーボモータにより駆動される被駆動体とを含むサーボシステムの応答特性を測定する測定ステップと、
    　前記測定ステップにより測定された前記サーボシステムの応答特性と、当該応答特性の測定時における前記第１フィルタの動作状態を示す情報とに基づき、前記第１パラメータの値が異なる複数の状況における前記サーボシステムの応答特性をシミュレートし、各状況における前記サーボシステムの応答特性のシミュレート結果に基づき、各状況におけるオーバーシュート量の指標値である第１指標値及び前記位置指令フィルタよる位置指令の時間遅れ量の指標値である第２指標値を特定する特定ステップと、
    　前記特定ステップにより特定された各状況における前記第１指標値及び前記第２指標値に基づき、ディスプレイの画面上に、前記第１指標値と前記第２指標値との関係を示すグラフであって、前記第１指標値、前記第２指標値を、それぞれ、縦軸及び横軸の中の一方、他方としたグラフを表示する表示制御ステップと、
    　前記グラフ上からユーザにより指定された点に対応する前記第１パラメータの値を前記第１フィルタの前記第１パラメータに設定する設定ステップと、
    　を実行させることを特徴とする設定支援プログラム。     A setting support program for supporting setting of a position command filter in a servo driver including a first filter having a first parameter,
    In the computer connected to the servo driver,
    A measuring step for measuring response characteristics of a servo system including the servo driver, a servo motor controlled by the servo driver, and a driven body driven by the servo motor;
    The servo in a plurality of situations in which the value of the first parameter is different based on the response characteristic of the servo system measured in the measurement step and information indicating the operating state of the first filter at the time of measurement of the response characteristic. The response characteristic of the system is simulated, and based on the simulation result of the response characteristic of the servo system in each situation, the first index value that is the index value of the overshoot amount in each situation and the time of the position command by the position command filter A specific step of identifying a second index value that is an index value of the delay amount;
    FIG. 5 is a graph showing a relationship between the first index value and the second index value on a display screen based on the first index value and the second index value in each situation identified by the identifying step; A display control step of displaying a graph with the first index value and the second index value as one of the vertical axis and the horizontal axis, respectively,
    A setting step of setting a value of the first parameter corresponding to a point designated by the user from the graph to the first parameter of the first filter;
    A setting support program characterized by causing
  14. 　第１パラメータを有する第１フィルタと第２パラメータを有する第２フィルタとを含む、サーボドライバ内の位置指令フィルタの設定を支援する設定支援プログラムであって、
    　前記サーボドライバと接続されたコンピュータに、
    　前記サーボドライバと前記サーボドライバにより制御されるサーボモータと前記サーボモータにより駆動される被駆動体とを含むサーボシステムの応答特性を測定する測定ステップと、
    　前記測定ステップにより測定された前記サーボシステムの応答特性と、当該応答特性の測定時における前記第１フィルタの動作状態を示す情報とに基づき、前記第１パラメータの値と前記第２パラメータの値の組合せが互いに異なる複数の状況における前記サーボシステムの応答特性をシミュレートし、各状況における前記サーボシステムの応答特性のシミュレート結果に基づき、各状況におけるオーバーシュート量の指標値である第１指標値及び前記位置指令フィルタよる位置指令の時間遅れ量の指標値である第２指標値を特定する特定ステップと、
    　前記特定ステップにより特定された各状況における前記第１指標値及び前記第２指標値に基づき、ディスプレイの画面上に、前記第１パラメータの値と前記第２パラメータの値の組み合わせと前記第１指標値と間の関係を示す第１画像情報、及び、前記第１パラメータの値と前記第２パラメータの値の組み合わせと前記第２指標値と間の関係を示す第２画像情報を表示する表示制御ステップと、
    　を実行させることを特徴とする設定支援プログラム。     A setting support program for supporting setting of a position command filter in a servo driver, including a first filter having a first parameter and a second filter having a second parameter,
    In the computer connected to the servo driver,
    A measuring step for measuring response characteristics of a servo system including the servo driver, a servo motor controlled by the servo driver, and a driven body driven by the servo motor;
    Based on the response characteristic of the servo system measured in the measurement step and the information indicating the operating state of the first filter at the time of measurement of the response characteristic, the value of the first parameter and the value of the second parameter A first index value that is an index value of an overshoot amount in each situation is simulated based on a simulation result of the response characteristics of the servo system in each situation, in which the response characteristics of the servo system in a plurality of situations with different combinations are simulated. And a specifying step of specifying a second index value that is an index value of a time delay amount of the position command by the position command filter;
    Based on the first index value and the second index value in each situation specified by the specifying step, a combination of the first parameter value and the second parameter value and the first index are displayed on a display screen. Display control for displaying first image information indicating a relationship between values, and second image information indicating a relationship between a combination of the first parameter value and the second parameter value and the second index value Steps,
    A setting support program characterized by causing
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