WO2020189031A1

WO2020189031A1 - Information processing device, information processing method, and information processing program

Info

Publication number: WO2020189031A1
Application number: PCT/JP2020/003067
Authority: WO
Inventors: 克行木村; 佑気坂元
Original assignee: オムロン株式会社
Priority date: 2019-03-20
Filing date: 2020-01-29
Publication date: 2020-09-24
Also published as: JP7021656B2; JP2020154829A

Abstract

A PLC (1) is provided with: a change processing unit (114) for changing, in accordance with a torque value, a rotational angular speed, or a representative value of the rotational angle of a servo motor (31) in a first period, the normal range of the torque value, the rotational angular speed, or the representative value of the rotational angle in a second period of a drive period; and an abonormality detection unit (115) for detecting an abnormality occurring in a drive mechanism (3) by determining whether the torque value, the rotational angular speed, or the representative value of the rotational angle in the second period is within the normal range or not.

Description

Information processing equipment, information processing methods, and information processing programs

The present invention relates to an information processing device, an information processing method, and an information processing program.

An information processing device that processes information on abnormalities that occur in the drive mechanism by monitoring the torque value of the servomotor of the driven device is known as a conventional technique. This will be specifically described below. The operation of the servomotor mechanism including the servomotor and the driven device driven by the servomotor is controlled by the information processing device. When the information processing device detects an abnormality in the servomotor mechanism, it takes measures such as issuing an alarm.

Some such information processing devices detect an abnormality when the torque value exceeds the normal range by monitoring the torque value of the servomotor. For example, in Patent Document 1, it is determined that an abnormality has occurred in the robot body when the torque fluctuation value calculated from the torque value of the motor whose temperature has been corrected by using the temperature sensor exceeds a preset threshold value. Anomaly detection methods are disclosed.

Japanese Patent Publication "Japanese Patent Laid-Open No. 2006-281421 (published on October 19, 2006)"

However, in the abnormality detection method disclosed in Patent Document 1, when the load applied to the robot body or the temperature fluctuates, the torque fluctuation value is also changed, so that there is a possibility of erroneously detecting an abnormality occurring in the robot body. There's a problem. One aspect of the present invention is an object of appropriately detecting an abnormality occurring in a driving mechanism even if the load applied to the driven device or the air temperature is currently unknown.

In order to solve the above problems, the information processing device according to one aspect of the present invention is an information processing device that processes information regarding an abnormality that occurs in a drive mechanism having a driven device and a motor that drives the driven device. According to the torque value, the rotation angle speed, or the representative value of the rotation angle in the first period of the drive period from the start to the stop of the driven device by the motor. The change processing unit that changes the normal range of the torque value, the rotation angle speed, or the representative value of the rotation angle in the second period of the drive period, and the torque value of the motor in the second period. It is provided with an abnormality detection unit that detects an abnormality that occurs in the drive mechanism by determining whether or not the rotation angle speed or the representative value of the rotation angle is within the normal range changed by the change processing unit. ..

The information processing method according to one aspect of the present invention is an information processing method that processes information regarding an abnormality that occurs in a drive mechanism having a driven device and a motor that drives the driven device, and the motor drives the driven device. The second of the drive periods, depending on the torque value, rotation angle speed, or representative value of the rotation angle in the first period of the drive period from the start to the stop of the drive device. A change processing step for changing the normal range of the torque value, rotation angle speed, or rotation angle representative value of the motor during the period, and the torque value, rotation angle speed, or rotation angle representative value of the motor during the second period. Includes an abnormality detection step of detecting an abnormality occurring in the drive mechanism by determining whether or not it is within the normal range changed in the change processing step.

According to one aspect of the present invention, even if the load applied to the driven device or the air temperature is currently unknown, an abnormality occurring in the drive mechanism can be appropriately detected.

It is a block diagram which shows the structure of the control system which concerns on this embodiment. It is a figure which shows the torque value of the servomotor provided in the control system shown in FIG. It is a figure which shows the average value of the torque value in the 2nd period with respect to the average value of the torque value in the 1st period about the servomotor provided in the control system shown in FIG. It is a flowchart which shows the processing procedure of the control system shown in FIG. It is a figure which shows an example of the structure of the driven device provided in the control system shown in FIG. It is a flowchart which shows the processing procedure of the control system which concerns on modification 1 of this Embodiment. It is a figure which shows the average value of the torque value in the 2nd period with respect to the average value of the torque value in the 1st period about the servomotor provided in the control system which concerns on modification 1 of this Embodiment. It is a figure which shows the torque value of the servomotor provided in the control system which concerns on the modification 2 of this embodiment. It is a figure which shows the average value of the torque value in the 2nd period with respect to the average value of the torque value in the 1st period about the servomotor provided in the control system which concerns on the modification 2 of this Embodiment.

Hereinafter, an embodiment according to one aspect of the present invention (hereinafter, also referred to as “the present embodiment”) will be described with reference to the drawings.

§1 Application example FIG. 1 is a block diagram showing a configuration of a control system 100 according to the present embodiment. An example of a situation in which the present invention is applied will be described with reference to FIG. As shown in FIG. 1, the control system 100 includes a PLC (Programmable Logic Controller) 1 (information processing device), a servo driver 2, a drive mechanism 3, a temperature sensor 4, and a monitor 5. The control system 100 is a system that detects an abnormality that occurs in the drive mechanism 3.

PLC1 processes information regarding an abnormality that occurs in the drive mechanism 3. Specifically, the PLC1 has a torque value, a rotation angular velocity, or a representative value of the rotation angle in the second period, depending on the torque value, the rotation angular velocity, or the representative value of the rotation angle in the first period. Set the normal range of. The PLC1 determines whether or not the torque value, the rotational angular velocity, or the representative value of the rotational angle of the servomotor 31 (motor) in the second period is within the normal range, thereby causing an abnormality in the drive mechanism 3. Is detected. Details will be described later.

§2 Configuration example (configuration of control system 100)
A configuration example of the control system 100 according to the present embodiment will be described with reference to FIG. The drive mechanism 3 is a control target of the PLC 1, and includes a servomotor 31 and a driven device 32. The servomotor 31 drives the driven device 32. For the servomotor 31, a rotary encoder for detecting the rotational angular velocity and the rotational angle is attached to the rotating shaft. The driven device 32 is a driven portion of a machine tool or a machine such as a robot, and has a mechanism for converting a rotational driving force generated by the servomotor 31 into a predetermined motion.

The servo driver 2 drives the servo motor 31 by applying torque to the servo motor 31 as the optimum driving energy according to the state quantities such as the rotational angular velocity and the rotational angle of the servo motor 31 based on the command received from the PLC 1. .. The temperature sensor 4 is arranged in the vicinity of the servomotor 31 and detects the temperature of the servomotor 31. Further, when the control system 100 is used in an environment where the temperature change is small, the control system 100 does not have to include the temperature sensor 4.

The PLC 1 includes a control unit 11 and a memory 12. The PLC 1 is connected to the servo driver 2, the temperature sensor 4, and the monitor 5. The control unit 11 includes a data acquisition unit 111, a data correction unit 112, a calculation processing unit 113, a change processing unit 114, and an abnormality detection unit 115. The control unit 11 gives a control command to the servo driver 2.

The data acquisition unit 111 acquires the torque value of the servomotor 31 from the servo driver 2 and the temperature of the servomotor 31 from the temperature sensor 4 by using the communication function of the PLC1. The torque value is obtained from the current value output by the servo driver 2 to the servo motor 31. The data acquisition unit 111 may acquire the current value output by the servo driver 2 to the servo motor 31 to obtain the torque value. Since the relationship between the current value and the torque value changes according to the temperature, the torque value is corrected as described later.

The data acquisition unit 111 stores the acquired torque value and temperature of the servomotor 31 in the memory 12. The data correction unit 112 corrects the torque value of the servomotor 31 based on the temperature of the servomotor 31 stored in the memory 12. The data correction unit 112 stores the corrected torque value in the memory 12. From this point onward, the torque values referred to by the calculation processing unit 113, the change processing unit 114, and the abnormality detection unit 115 are the torque values corrected by the data correction unit 112.

The calculation processing unit 113 calculates the average value of the torque values of the servomotor 31 in the first period P1 of the drive period from the start to the stop of the driven device 32 driven by the servomotor 31. Further, the calculation processing unit 113 calculates the average value of the torque values of the servomotor 31 in the second period P2 of the drive period. The calculation processing unit 113 stores the calculated average value in the memory 12. The driving period is a period called one stroke. The first period P1 and the second period P2 are as shown in FIG. 2, for example. Details of the first period P1 and the second period P2 will be described later.

FIG. 2 is a diagram showing a torque value of the servomotor 31 included in the control system 100 shown in FIG. Further, FIG. 2 shows the torque value of the servomotor 31 during the driving period. In FIG. 2, the horizontal axis is time and the vertical axis is the torque value of the servomotor 31. Further, in FIG. 2, T1 is a torque value of the servomotor 31 when the load applied to the driven device 32 is small (the mass of the work handled by the driven device 32 is small) and an abnormality occurs in the drive mechanism 3. .. T2 is a torque value of the servomotor 31 when the load applied to the driven device 32 is small and the drive mechanism 3 is normal. T3 is a torque value of the servomotor 31 when the load applied to the driven device 32 is large (the mass of the work handled by the driven device 32 is large) and the drive mechanism 3 is normal.

In FIG. 2, time 0 (ms) is the time at the start of driving of the driven device 32, and time 500 (ms) is the time at the time when driving of the driven device 32 is stopped. As shown in FIG. 2, the absolute value of the torque value of the servomotor 31 increases in the PT1 for a certain period after the driven device 32 is started to be driven and in the PT2 for a certain period before the driven device 32 is stopped. It will be the period of time. In the PT1 for a certain period of time, the torque value of the servomotor 31 differs due to the difference in the load applied to the driven device 32.

The torque value T3 is larger than the torque value T2 near the time 0 (ms). This is because the larger the load applied to the driven device 32, the larger the torque value of the servomotor 31 when the driven device 32 starts driving. Further, the torque value T3 is larger than the torque value T2 in the period in which the torque value when the servomotor 31 is accelerating is close to the peak value (first period P3 described later). This is because the larger the load applied to the driven device 32, the larger the peak value of the torque value of the servomotor 31.

The torque value T3 is larger than the torque value T2 in the period when the torque value when the servomotor 31 is decelerating is close to the peak value (first period P4 described later). This is because even when the servomotor 31 is decelerating, the peak value of the torque value of the servomotor 31 increases as the load applied to the driven device 32 increases.

Further, the torque value T1 is larger than the torque value T2 near the time 200 (ms). This is because, in the period when the rotational angular velocity of the servomotor 31 becomes substantially constant (the second period P5 described later), for example, the torque value of the servomotor 31 becomes large due to the ball screw 51 described later being scratched. Because. The torque value T1 is substantially the same as the torque value T2 except in the vicinity of the time 200 (ms).

The first period P1 is a predetermined period after the driven device 32 is started to be driven. The predetermined period is set to include a period in which the torque value T3 becomes larger than the torque value T2 due to the difference in the load applied to the driven device 32. That is, the first period P1 is a period for discriminating the difference in load or temperature applied to the driven device 32. The predetermined period is, for example, a period in which the time is 1 (ms) or more and 20 (ms) or less. In particular, immediately after the start of driving the driven device 32, the difference in the load applied to the driven device 32 tends to be remarkable.

The first period P1 is at least a part of the fixed period PT1 and PT2. As a result, the average value of the torque values of the servomotor 31 also differs due to the difference in the load applied to the driven device 32 in a certain period after the driving by the servomotor 31 is started. Therefore, by referring to the average value of the torque values of the servomotor 31 in the first period P1, the load applied to the driven device 32 can be recognized, and the average torque value in the second period P2 can be recognized. The normal range of values can be changed appropriately.

The second period P2 is the same as the driving period. Therefore, the second period P2 includes a period other than the first period P1. As a result, since the average value of the torque values of the servomotor 31 in the period other than the first period P1 is taken into consideration, the average value of the torque values in the second period P2 is not detected so that the abnormality occurring in the drive mechanism 3 is not detected. The normal range of values can be changed appropriately. That is, the second period P2 is a period for detecting an abnormality occurring in the drive mechanism 3. In the control system 100, the period P1 is the first period and the period P2 is the second period.

FIG. 3 is a diagram showing the average value of the torque values in the second period P2 with respect to the average value of the torque values in the first period P1 for the servomotor 31 included in the control system 100 shown in FIG. In FIG. 3, the horizontal axis is the average value of the torque values of the servomotor 31 in the first period P1, and the vertical axis is the average value of the torque values of the servomotor 31 in the second period P2.

The change processing unit 114 changes the normal range of the average torque value of the servomotor 31 in the second period P2 according to the average torque value of the servomotor 31 in the first period P1. This will be specifically described below. The drive mechanism 3 is operated a plurality of times while varying the load applied to the driven device 32, that is, the drive mechanism 3 is operated with a plurality of strokes. The load is changed for each stroke.

By operating the drive mechanism 3 a plurality of times (multiple strokes) by the servo driver 2, the average value of the torque values in the second period P2 is the average value of the torque values in the second period P2 with respect to the average value of the torque values in the first period P1 for the servomotor 31. Multiple records are recorded in. The change processing unit 114 sets the regression curve CL1 based on the result of recording a plurality of average values of the torque values in the second period P2 with respect to the average value of the torque values in the first period P1 for the servomotor 31. The regression curve CL1 is a curve showing the average value of the torque values in the second period P2 with respect to the average value of the torque values in the first period P1 for the servomotor 31. In order to set the regression curve CL1, it is necessary to change the work handled by the driven device 32 each time the drive mechanism 3 is operated.

As shown in FIG. 3, the change processing unit 114 sets the upper limit threshold value TH1 and the lower limit threshold value TH2 with reference to the regression curve CL1, so that the normal range of the average value of the torque values of the servomotor 31 in the second period P2 is normal. To set. The normal range is a numerical range of the lower limit threshold value TH2 or more and the upper limit threshold value TH1 or less for the average value of the torque values of the servomotor 31 in the second period P2.

As a result, when the average value of the torque values of the servomotor 31 in the first period P1 changes, the normal range also changes. Therefore, the change processing unit 114 changes the normal range of the average torque value of the servomotor 31 in the second period P2 according to the average torque value of the servomotor 31 in the first period P1. Become. The change processing unit 114 stores the set normal range in the memory 12.

The abnormality detection unit 115 occurs in the drive mechanism 3 by determining whether or not the average value of the torque values of the servomotor 31 in the second period P2 is within the normal range changed by the change processing unit 114. Detect anomalies. This will be specifically described below.

In FIG. 3, for example, the average value of the torque value T1 in the second period P2 with respect to the average value of the torque value T1 in the first period P1 is the value A1. Further, the average value of the torque value T2 in the second period P2 with respect to the average value of the torque value T2 in the first period P1 becomes the value A2, and the average value of the torque value T3 in the first period P1 is the second period P2. The average value of the torque value T3 of is the value A3. That is, the values A1 to A3 are the average values of the torque values in the second period P2, respectively.

The value A1 is not within the normal range as shown in FIG. Therefore, the abnormality detection unit 115 refers to the normal range stored in the memory 12, determines that the value A1 is not within the normal range, and detects an abnormality that has occurred in the drive mechanism 3.

According to such a configuration, even if either the load applied to the driven device 32 or the air temperature is currently unknown under the condition that the load applied to the driven device 32 changes and the air temperature changes. It is possible to detect an abnormality that occurs in the drive mechanism 3. This will be specifically described below.

Consider a case where a period in which the average value of the torque values changes when the load applied to the driven device 32 changes is set as the first period P1. In this case, since the normal range in the second period P2 is changed according to the average value of the torque values in the first period P1, the normal range can be set in consideration of the load applied to the driven device 32. Therefore, even when the load applied to the driven device 32 changes continuously or the load applied to the driven device 32 changes frequently, an abnormality occurring in the drive mechanism 3 can be appropriately detected. ..

The abnormality detection unit 115 provides the monitor 5 with information that an abnormality has occurred in the drive mechanism 3. The monitor 5 includes a display and displays on the display that an abnormality has occurred in the drive mechanism 3 based on the information provided by the abnormality detection unit 115. Further, in the case of the values A2 and A3, the abnormality detection unit 115 determines that the values A2 and A3 are within the normal range, recognizes that no abnormality has occurred in the drive mechanism 3, and does not detect the abnormality.

§3 Operation example (Processing of control system 100)
FIG. 4 is a flowchart showing a processing procedure of the control system 100 shown in FIG. Here, the processing (information processing method) of the control system 100 will be described with reference to FIG. First, as shown in FIG. 4, in the control system 100, the servo driver 2 operates the drive mechanism 3 a plurality of times in order to set the regression curve CL1 (step S1).

FIG. 5 is a diagram showing an example of the configuration of the driven device 32 included in the control system 100 shown in FIG. Here, it is assumed that the driven device 32 of the drive mechanism 3 is a ball screw drive stage including a ball screw 51 and a stage 52 driven by the ball screw 51, as shown in FIG. The work W is arranged on the stage 52.

In such an operation of the ball screw drive stage, consider a case where the stage 52 moves from the point PP1 to the point PP2, for example, by operating the drive mechanism 3. In this case, the process of moving the stage 52 from the point PP1 to the point PP2 is performed a plurality of times. Each time the process is performed, the work W is changed to one having a different mass. As a result, the load applied to the driven device 32 is changed.

When the process is performed a plurality of times, the data acquisition unit 111 maps the torque value of the servomotor 31 by storing the torque value of the servomotor 31 acquired from the servo driver 2 in the memory 12 (step S2). .. The calculation processing unit 113 refers to the result of mapping the torque value of the servomotor 31 stored in the memory 12, and refers to the average value of the torque values of the servomotor 31 in the first period P1 and the second period P2. The average value of the torque values of the servo motors 31 in the above is calculated. The calculation processing unit 113 stores the calculated average value in the memory 12.

The change processing unit 114 sets the regression curve CL1 with reference to the average value stored in the memory 12 by the calculation processing unit 113 (step S3). The change processing unit 114 stores the information of the set regression curve CL1 in the memory 12. After setting the regression curve CL1, the change processing unit 114 changes the above-mentioned normal range in the second period P2 (step S4: change processing step).

After changing the normal range, the change processing unit 114 sets a reference curve indicating the torque value of the servomotor 31 with respect to the temperature of the servomotor 31 with reference to the torque value and temperature of the servomotor 31 stored in the memory 12. (Step S5). The change processing unit 114 stores the set information of the reference curve in the memory 12. Since the method of setting the reference curve is known, the description thereof will be omitted.

The processes of steps S1 to S5 are preliminary processes before the normal operation of the drive mechanism 3 is performed, and are processes for setting the regression curve CL1 and the reference curve. Therefore, the processes of steps S1 to S5 need only be performed once. If the regression curve CL1 and the reference curve have been set, the processes of steps S6 to S11 described below may be performed without performing the processes of steps S1 to S5. The processes of steps S6 to S11 are processes for detecting an abnormality that occurs in the drive mechanism 3 when the drive mechanism 3 is normally operated.

After the setting of the regression curve CL1 and the reference curve is completed, the servo driver 2 operates the drive mechanism 3 (step S6). The data acquisition unit 111 acquires the torque value of the servomotor 31 from the servo driver 2 and the temperature of the servomotor 31 from the temperature sensor 4. The data acquisition unit 111 stores the acquired torque value and temperature of the servomotor 31 in the memory 12. The result of storing the torque value of the servomotor 31 acquired by the data acquisition unit 111 in the memory 12 is as shown in FIG.

The data correction unit 112 corrects the torque value of the servomotor 31 based on the temperature of the servomotor 31 stored in the memory 12 and the reference curve (step S7). The data correction unit 112 stores the corrected torque value in the memory 12. The calculation processing unit 113 refers to the corrected torque value stored in the memory 12, and refers to the average value of the torque values of the servomotor 31 in the first period P1 and the torque of the servomotor 31 in the second period P2. Calculate the average value of the values. The calculation processing unit 113 stores the calculated average value in the memory 12.

The change processing unit 114 refers to the average value stored in the memory 12 by the calculation processing unit 113, and obtains the average value of the torque values in the second period P2 with respect to the average value of the torque values in the first period P1. Mapping is performed as shown in 3 (step S8). The change processing unit 114 stores the mapped average value in the memory 12. The result of mapping the average value by the change processing unit 114 is as shown in FIG.

The abnormality detection unit 115 refers to the result of mapping the average value by the change processing unit 114 stored in the memory 12. As a result, the abnormality detection unit 115 determines whether or not the average value of the torque values in the second period P2 is within the normal range (step S9). When the average value of the torque values in the second period P2 is within the normal range (YES in step S9), the abnormality detection unit 115 recognizes that no abnormality has occurred in the drive mechanism 3. Therefore, the process for detecting the abnormality occurring in the drive mechanism 3 is completed.

When the average value of the torque values in the second period P2 is out of the normal range (NO in step S9), the abnormality detection unit 115 determines that an abnormality has occurred in the drive mechanism 3. As a result, the abnormality detection unit 115 detects the abnormality that occurs in the drive mechanism 3 (step S10: abnormality detection step). The abnormality detection unit 115 provides the monitor 5 with information that an abnormality has occurred in the drive mechanism 3. The monitor 5 notifies the abnormality by displaying on the display that an abnormality has occurred in the drive mechanism 3 (step S11).

Further, the information processing device according to the present invention is not limited to PLC1, and may be a server or a PC (Personal Computer). In this configuration, the data acquisition unit 111 may acquire the torque value and temperature of the servomotor 31 from a PLC provided separately.

§4 Modifications Although the embodiments of the present invention have been described in detail above, the above description is merely an example of the present invention in all respects. Needless to say, various improvements and modifications can be made without departing from the scope of the present invention. For example, the following changes can be made. In the following, the same reference numerals will be used for the same components as those in the above embodiment, and the same points as in the above embodiment will be omitted as appropriate. The following modifications can be combined as appropriate.

(Modification example 1)
FIG. 6 is a flowchart showing a processing procedure of the control system 101 according to the first modification of the present embodiment. The processing of the control system 101 will be described with reference to FIG. Since the process of step S21 is the same as the process of step S1, the description thereof will be omitted. In FIG. 5, consider a case where the process of moving the stage 52 from the point PP1 to the point PP2 is performed a plurality of times. In this case, the data acquisition unit 111 maps the torque value of the servomotor 31 by storing the torque value of the servomotor 31 acquired from the servo driver 2 in the memory 12.

The calculation processing unit 113 refers to the result of mapping the torque value of the servomotor 31 stored in the memory 12, and refers to the average value of the torque values of the servomotor 31 in the first period P1 and the second period P2. The average value of the torque values of the servo motors 31 in the above is calculated. The calculation processing unit 113 stores the calculated average value in the memory 12.

After the average value calculated by the calculation processing unit 113 is stored in the memory 12, the change processing unit 114 refers to the average value stored in the memory 12 by the calculation processing unit 113. As a result, the change processing unit 114 maps the average value of the torque values in the second period P2 to the average value of the torque values in the first period P1 (step S22).

FIG. 7 is a diagram showing the average value of the torque values in the second period P2 with respect to the average value of the torque values in the first period P1 for the servomotor 31 included in the control system 101 according to the modification 1 of the present embodiment. .. In FIG. 7, the horizontal axis is the average value of the torque values of the servomotor 31 in the first period P1, and the vertical axis is the average value of the torque values of the servomotor 31 in the second period P2.

As shown in FIG. 7, the change processing unit 114 sets a predetermined threshold value th1 for the average value of the torque values of the servomotor 31 in the first period P1 (step S23). Specifically, the change processing unit 114 adds a predetermined value to the average value of the torque values in the first period P1 based on the average value mapped in step S22, and adds the value to the first period P1. It is set as the predetermined threshold value th1 in.

After setting the predetermined threshold value th1, the change processing unit 114 sets the normal range in the second period P2 (step S24). Here, it is assumed that the average value of the torque values of the servomotor 31 in the first period P1 is less than the predetermined threshold value th1. The change processing unit 114 sets the upper limit threshold value TH3 and the lower limit threshold value TH4 based on the average value of the torque values in the second period P2 based on the average value mapped in step S22. As a result, the change processing unit 114 sets the normal range of the average value of the torque values of the servomotor 31 in the second period P2. The change processing unit 114 stores the set normal range in the memory 12. The upper limit threshold value TH3 and the lower limit threshold value TH4 are set so that, for example, the center value between the upper limit threshold value TH3 and the lower limit threshold value TH4 becomes the average value of the torque values in the second period P2 calculated in step S22. May be good.

After that, the processes of steps S25 to S28 are performed, but since the processes of steps S25 to S28 are the same as the processes of steps S5 to S8, the description thereof will be omitted. The processes of steps S21 to S25 may be performed once. If the settings in steps S22 to S25 are completed, the processes in steps S26 to S33 may be performed without performing the processes in steps S21 to S25. While the processes of steps S26 to S33 are being performed, the drive mechanism 3 is operated a plurality of times.

The change processing unit 114 maps the average value of the torque values in the second period P2 to the average value of the torque values in the first period P1 in step S28, and then determines the torque value of the servomotor 31 in the first period P1. It is determined whether or not the average value is equal to or higher than the predetermined threshold value th1 (step S29).

When the average value of the torque values of the servomotor 31 in the first period P1 is less than the predetermined threshold value th1 (NO in step S29), the process proceeds to step S31. When the average value of the torque values of the servomotor 31 in the first period P1 is equal to or higher than the predetermined threshold value th1 (YES in step S29), the change processing unit 114 updates the normal range in the second period P2. (Step S30). In this case, the result in which the average value of the torque values in the second period P2 is calculated for the first time or the second time is regarded as normal.

Specifically, the change processing unit 114 sets the upper limit threshold value TH5 and the lower limit threshold value TH6 when the average value of the torque values of the servomotor 31 in the first period P1 is equal to or higher than the predetermined threshold value th1. As a result, the change processing unit 114 updates the normal range of the average value of the torque values of the servomotor 31 in the second period P2.

At this time, the change processing unit 114 sets the upper limit threshold value TH5 and the lower limit threshold value TH6 with reference to the average value of the torque values in the second period P2 calculated in step S28. That is, the change processing unit 114 sets the upper limit threshold value TH5 and the lower limit threshold value based on the average value of the torque values in the second period P2 when the average value of the torque values in the first period P1 first exceeds the predetermined threshold value th1. Set TH6. The change processing unit 114 stores the updated normal range in the memory 12. The upper limit threshold value TH5 and the lower limit threshold value TH6 are set so that, for example, the center value between the upper limit threshold value TH5 and the lower limit threshold value TH6 becomes the average value of the torque values in the second period P2 calculated in step S28. May be good.

The abnormality detection unit 115 refers to the normal range stored in the memory 12 by the change processing unit 114. As a result, the abnormality detection unit 115 determines whether or not the average value of the torque values in the second period P2 is within the normal range (step S31). When the average value of the torque values in the second period P2 is within the normal range (YES in step S31), the abnormality detection unit 115 recognizes that no abnormality has occurred in the drive mechanism 3. For example, in the case of the values A2 and A3 shown in FIG. 7, the abnormality detection unit 115 determines that the values A2 and A3 are within the normal range, recognizes that no abnormality has occurred in the drive mechanism 3, and detects the abnormality. Not detected. Therefore, the process for detecting the abnormality occurring in the drive mechanism 3 is completed.

When the average value of the torque values in the second period P2 is out of the normal range (NO in step S31), the abnormality detection unit 115 determines that an abnormality has occurred in the drive mechanism 3. For example, the value A1 is not within the normal range, as shown in FIG. Therefore, the abnormality detection unit 115 refers to the normal range stored in the memory 12, determines that the value A1 is not within the normal range, and determines that an abnormality has occurred in the drive mechanism 3.

As a result, the abnormality detection unit 115 detects the abnormality that occurs in the drive mechanism 3 (step S32: abnormality detection step). After that, the process of step S33 is performed, but since the process of step S33 is the same as the process of step S11, the description thereof will be omitted. Even when the average value of the torque values of the servomotor 31 in the first period P1 is changed from a value of the predetermined threshold value th1 or more to a value of less than the predetermined threshold value th1, the change processing unit 114 resets the normal range. ..

As described above, the change processing unit 114 changes the average value of the servomotor 31 in the first period P1 from a value less than the predetermined threshold value to a value equal to or more than the predetermined threshold value, or the average value of the servomotor 31 in the first period P1. When the value is changed from a value above the predetermined threshold value to a value below the predetermined threshold value, the normal range is changed.

In the above configuration, for example, it is assumed that the servomotor 31 drives the driven device 32 to move the stage 52 on the driven device 32 for arranging the work W. When the work W arranged on the stage 52 is changed to one having a different mass while the driven device 32 is being driven, the load applied to the driven device 32 fluctuates. Therefore, by changing the normal range as described above by the change processing unit 114, the normal range of the average value in the second period P2 can be appropriately changed.

(Modification 2)
FIG. 8 is a diagram showing a torque value of the servomotor 31 included in the control system 102 according to the second modification of the present embodiment. Further, FIG. 8 shows the torque value of the servomotor 31 during the driving period. The control system 102 is different from the control system 100 in that the temperature sensor 4 is not provided and the data correction unit 112 is not provided. Here, it is assumed that the load (mass of the work W) applied to the driven device 32 is constant.

In FIG. 8, the horizontal axis is time and the vertical axis is the torque value of the servomotor 31. Further, in FIG. 8, T4 is a torque value of the servomotor 31 when an abnormality occurs in the drive mechanism 3. T5 is a torque value of the servomotor 31 when no abnormality has occurred in the drive mechanism 3.

In FIG. 8, time 0 (ms) is the time at the time when the driven device 32 is started to be driven, and time 500 (ms) is the time when the driven device 32 is stopped. Further, when an impact load is applied at the start of driving of the driven device 32, for example, when the work W is machined at the start of driving of the driven device 32, an abnormality is likely to occur in the drive mechanism 3 in the second period P1. .. Therefore, in the control system 102, the period P1 is set as the second period and the period P2 is set as the first period.

Further, since the control system 102 does not include the temperature sensor 4, when the regression curve CL1 described above is set, the data correction unit 112 does not perform the processing, and the calculation processing unit 113 stores the data acquisition unit 111 in the memory 12. The processing may be performed based on the torque value of the servomotor 31.

Even if the torque value of the servomotor 31 is not corrected by the data correction unit 112 based on the temperature of the servomotor 31, the average value of the torque values in the second period P1 and the average value of the torque values in the first period P2. The temperature effect can be canceled by using and. Therefore, it is possible to detect an abnormality occurring in the drive mechanism 3 in the vicinity of the drive start time point.

FIG. 9 is a diagram showing an average value of torque values in the second period P1 with respect to an average value of torque values in the first period P2 for the servomotor 31 included in the control system 102 according to the second modification of the present embodiment. .. In FIG. 9, the horizontal axis is the average value of the torque values of the servomotor 31 in the first period P2, and the vertical axis is the average value of the torque values of the servomotor 31 in the second period P1. The change processing unit 114 sets the regression curve CL2 shown in FIG. 9 in the same manner as the setting of the regression curve CL1. The regression curve CL2 is a curve showing the average value of the torque values in the second period P1 with respect to the average value of the torque values in the first period P2 for the servomotor 31.

As shown in FIG. 9, the change processing unit 114 sets the upper limit threshold value TH7 and the lower limit threshold value TH8 with reference to the regression curve CL2, so that the normal range of the average value of the torque values of the servomotor 31 in the second period P1 is normal. To set. The normal range is a numerical range of the lower limit threshold value TH8 or more and the upper limit threshold value TH7 or less with respect to the average value of the torque values in the second period P1. The change processing unit 114 stores the set normal range in the memory 12.

The abnormality detection unit 115 occurs in the drive mechanism 3 by determining whether or not the average value of the torque values of the servomotor 31 in the second period P1 is within the normal range set by the change processing unit 114. Detect anomalies. This will be specifically described below. In FIG. 9, for example, the average value of the torque value T4 in the second period P1 with respect to the average value of the torque value T4 in the first period P2 is the value A4.

Further, the average value of the torque value T5 in the second period P1 with respect to the average value of the torque value T5 in the first period P2 is the value A5. When the temperature of the servomotor 31 is higher than that of the value A5 and no abnormality has occurred in the drive mechanism 3, the average value of the torque values in the first period P2 is compared with the average value in the second period P1. The average value of the torque values is the value A6. Even in the case of the values A4 to A6, the processing is performed by the abnormality detection unit 115 as in the case of the values A1 to A3.

(Modification 3)
As the first period, the period P3 shown in FIG. 2 may be selected instead of the period P1. The first period P3 is a period in which the torque value when the servomotor 31 is accelerating is close to the peak value. The first period P3 includes a period in which the absolute value of the torque value T3 becomes larger than the absolute value of the torque value T2. In the first period P3, the absolute value of the peak value of the torque value T3 becomes larger than the absolute value of the peak value of the torque value T2.

In this case, the change processing unit 114 and the abnormality detection unit 115 replace the average torque value of the servomotor 31 in the first period P1 with the torque when the servomotor 31 in the first period P3 is accelerating. The above-described processing is performed with reference to the peak value of the value.

(Modification example 4)
As the first period, the period P4 shown in FIG. 2 may be selected instead of the period P1. The first period P4 is a period in which the torque value when the servomotor 31 is decelerating is close to the peak value. The first period P4 includes a period in which the absolute value of the torque value T3 becomes larger than the absolute value of the torque value T2. In the first period P4, the absolute value of the peak value of the torque value T3 becomes larger than the absolute value of the peak value of the torque value T2.

In this case, the change processing unit 114 and the abnormality detection unit 115 replace the average torque value of the servomotor 31 in the first period P1 with the torque when the servomotor 31 in the first period P4 is decelerating. The above-described processing is performed with reference to the peak value of the value.

(Modification 5)
As the second period, the period P5 shown in FIG. 2 may be selected instead of the period P2. The second period P5 is a period in which the driven device 32 is moved at a substantially constant speed. That is, the second period P5 is a period in which the control unit 11 instructs the servo driver 2 to drive the servo motor 31 at a constant rotational angular velocity of the servo motor 31. In this case, the data acquisition unit 111 further acquires the rotation angular velocity or rotation angle of the servomotor 31 in addition to the torque value of the servomotor 31 from the servo driver 2. The data acquisition unit 111 stores the acquired rotation angular velocity or rotation angle of the servomotor 31 in the memory 12.

In the second period P5, the torque value of the servomotor 31 provided by the servodriver 2 to the servomotor 31 is also substantially constant. In this case, the change processing unit 114 and the abnormality detection unit 115 refer to the average value of the torque value of the servomotor 31 in the second period P5 instead of the average value of the torque value of the servomotor 31 in the second period P2. Then, the above-mentioned processing is performed.

Therefore, the second period P5 includes a period in which the driven device 32 is moved at a substantially constant speed. Since the driven device 32 moves at high speed during the above period, an abnormality is likely to occur in the drive mechanism 3. That is, a period during which an abnormality is likely to occur in the drive mechanism 3 is considered. Therefore, the normal range of the average value in the second period P5 can be appropriately changed so that the abnormality occurring in the drive mechanism 3 is not undetected.

(Modification 6)
The data acquisition unit 111 may acquire the rotation angular velocity or the rotation angle of the servomotor 31 from the servo driver 2. In this case, the data acquisition unit 111 stores the acquired rotational angular velocity or rotation angle of the servomotor 31 in the memory 12. The calculation processing unit 113 calculates the rotation angular velocity or the average value of the rotation angles of the servomotor 31 in the first period P6 (not shown) instead of the average value of the torque values of the servomotor 31 in the first period P1. You may. Further, the calculation processing unit 113 calculates the average value of the rotational angular velocities of the servomotor 31 in the second period P7 (not shown) instead of the average value of the torque values of the servomotor 31 in the second period P2. You may.

In this case, the change processing unit 114 and the abnormality detection unit 115 replace the average value of the torque values of the servomotor 31 in the first period P1 with the average rotation angular velocity or rotation angle of the servomotor 31 in the first period P6. The above-mentioned processing is performed with reference to the value. Further, the change processing unit 114 and the abnormality detection unit 115 refer to the average value of the rotational angular velocities of the servomotor 31 in the second period P7 instead of the average value of the torque values of the servomotor 31 in the second period P2. The above-mentioned processing may be performed.

Further, the PT3 (not shown) for a certain period after the driven device 32 is started to be driven is a period in which the absolute value of the rotational angular velocity of the servomotor 31 is increasing, and before the driven device 32 is stopped. PT4 (not shown) is a period during which the absolute value of the rotational angular velocity of the servomotor 31 is decreasing. Further, the PT5 (not shown) for a certain period after the driven device 32 is started to be driven is a period in which the absolute value of the rotation angle of the servomotor 31 is increasing.

The first period P6 is a predetermined period after the driven device 32 is started to be driven. During the predetermined period, the rotation angular velocity or the rotation angle of the servomotor 31 differs due to the difference in the load applied to the driven device 32. Therefore, the predetermined period is a period in which the rotation angular velocity or rotation angle of the servomotor 31 when the load applied to the driven device 32 is large is larger than the rotation angular velocity or rotation angle when the load applied to the driven device 32 is small. May be set to include.

The first period P6 is at least a part of the fixed period PT3 and PT4. Therefore, the first period is at least a part of the period during which the torque value or the absolute value of the rotational angular velocity of the servomotor 31 is increasing.

(Modification 7)
In the present embodiment and the modified examples 1 to 6, the first period and the second period may be interchanged. That is, the role of the first period and the role of the second period may be interchanged. Specifically, the first period may be any of the periods P1 to P7, and the second period may be any of the periods P1 to P7. At this time, the first period and the second period are different periods from each other. Here, the first period is a period in which the representative value described later is simply referred to and the normal range is not set, and the second period is a period in which the normal range is set for the representative value.

That is, in the modification 3, the change processing unit 114 and the abnormality detection unit 115 may refer to the peak value of the torque value of the servomotor 31 in the period P3 as the second period. In the modification 4, the change processing unit 114 and the abnormality detection unit 115 may refer to the peak value of the torque value of the servomotor 31 in the period P4 as the second period. In the modification 5, the change processing unit 114 and the abnormality detection unit 115 may refer to the average value of the torque values of the servomotor 31 during the period P5 as the first period.

Further, in the modification 6, the change processing unit 114 and the abnormality detection unit 115 may refer to the average value of the rotational angular velocities of the servomotor 31 in the period P7 as the first period. In the modification 6, the change processing unit 114 and the abnormality detection unit 115 may refer to the rotation angular velocity or the average value of the rotation angles of the servomotor 31 in the period P6 as the second period.

As described above, the change processing unit 114 increases the torque of the servo motor 31 in the second period of the drive period according to the torque value, the rotational angular velocity, or the representative value of the rotation angle in the first period. Change the normal range of values, rotational angular velocities, or typical rotational angle values. Further, the abnormality detection unit 115 determines whether or not the torque value, the rotation angular velocity, or the representative value of the rotation angle of the servomotor 31 in the second period is within the normal range changed by the change processing unit 114. As a result, an abnormality occurring in the drive mechanism 3 is detected. The representative value is an average value or a peak value.

The torque value, rotational angular velocity, or rotational angle of the servomotor 31 in the first period can be said to be a value related to the servomotor 31 in the first period. The torque value, rotational angular velocity, or rotational angle of the servomotor 31 in the second period can be said to be a value related to the servomotor 31 in the second period.

Further, regarding the torque value, the rotational angular velocity, or the representative value of the rotational angle of the servomotor 31 in the first period, the representative value may be an average value or a standard deviation. Regarding the torque value, the rotational angular velocity, or the representative value of the rotational angle of the servomotor 31 in the second period, the representative value may be an average value or a standard deviation. As a result, since the representative values in the first period and the second period are the average value or the standard deviation, the normal range can be appropriately changed in consideration of the entire second period, and an abnormality occurs in the drive mechanism. Can be detected.

In the change processing unit 114 and the abnormality detection unit 115, the difference between the torque command value and the measured value of the torque value in the first period, the difference between the rotation angular velocity command value and the measured value of the rotation angular velocity in the first period, Alternatively, the difference between the rotation angle command value and the actual measurement value of the rotation angle in the first period may be referred to. That is, the representative value in the first period may be a difference between them. In this case, the change processing unit 114 changes the normal range of the representative value in the second period according to these differences. Further, the abnormality detection unit 115 detects an abnormality occurring in the drive mechanism 3 by determining whether or not the representative value in the second period is within the normal range.

In this configuration, consider a case where a period in which these differences occur when the load applied to the driven device 32 changes is set as the first period. In this case, since the normal range in the second period is changed according to the difference in the first period, the normal range can be set in consideration of the load applied to the driven device 32. Therefore, it is possible to detect an abnormality occurring in the drive mechanism 3 regardless of the load applied to the driven device 32 or the air temperature. Here, each command value is a command value for controlling the servomotor 31 provided by the servo driver 2 to the servomotor 31, and each actually measured value is a feedback value as an actual numerical value by the servomotor 31.

(Modification 8)
The change processing unit 114 and the abnormality detection unit 115, in addition to the torque value, the rotational angular velocity, or the representative value of the rotation angle of the servo motor 31 in the first period and the second period, the torque of the servo motor 31 in the third period. You may refer to the value, the rotational angular velocity, or the representative value of the rotational angle. The third period is, for example, any of the above-mentioned periods P1 to P7. In this case, the first period, the second period, and the third period are different periods from each other.

Specifically, the change processing unit 114 changes the normal range of the representative value in the third period according to the representative value in the first period and the representative value in the second period. That is, the change processing unit 114 refers to the three-dimensional graph for the representative value in the first period, the representative value in the second period, and the representative value in the third period, and refers to the representative value in the third period. Change the normal range. Further, the abnormality detection unit 115 detects an abnormality occurring in the drive mechanism 3 by determining whether or not the representative value in the third period is within the normal range.

[Example of realization by software]
The control block (particularly the control unit 11) of the PLC 1 may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like, or may be realized by software.

In the latter case, PLC1 is equipped with a computer that executes the instructions of a program that is software that realizes each function. The computer includes, for example, one or more processors and a computer-readable recording medium that stores the program. Then, in the computer, the object of the present invention is achieved by the processor reading the program from the recording medium and executing the program. As the processor, for example, a CPU (Central Processing Unit) can be used. As the recording medium, in addition to a “non-temporary tangible medium” such as a ROM (Read Only Memory), a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. Further, a RAM (Random Access Memory) or the like for expanding the program may be further provided. Further, the program may be supplied to the computer via an arbitrary transmission medium (communication network, broadcast wave, etc.) capable of transmitting the program. It should be noted that one aspect of the present invention can also be realized in the form of a data signal embedded in a carrier wave, in which the program is embodied by electronic transmission.

[Summary]
The information processing device according to one aspect of the present invention is an information processing device that processes information regarding an abnormality that occurs in a drive mechanism having a driven device and a motor that drives the driven device, and the motor drives the driven device. The second of the drive periods, depending on the torque value, rotation angle speed, or representative value of the rotation angle in the first period of the drive period from the start to the stop of the drive device. A change processing unit that changes the normal range of the torque value, rotation angle speed, or rotation angle representative value of the motor during the period, and a representative value of the motor torque value, rotation angle speed, or rotation angle during the second period. Is provided with an abnormality detecting unit that detects an abnormality occurring in the driving mechanism by determining whether or not it is within the normal range changed by the change processing unit.

According to the above configuration, under a situation where the load applied to the driven device changes and the air temperature changes, even if the load applied to the driven device or the air temperature is currently unknown, an abnormality occurring in the drive mechanism is detected. can do. This will be specifically described below. Consider a case where a period in which the representative value changes when the load applied to the driven device changes is set as the first period. In this case, since the normal range in the second period is changed according to the representative value in the first period, the normal range can be set in consideration of the load applied to the driven device. Therefore, it is possible to detect an abnormality occurring in the drive mechanism regardless of the load applied to the driven device or the air temperature.

Regarding the representative value of the torque value, the rotation angle speed, or the rotation angle of the motor in the first period, the representative value is an average value, and the torque value, the rotation angle speed, or the rotation angle of the motor in the second period. With respect to the representative value of, the representative value may be an average value. According to the above configuration, since the representative values in each of the first period and the second period are average values, the normal range can be appropriately changed in consideration of the entire second period, and an abnormality occurs in the drive mechanism. Can be detected.

The first period may be at least a part of the period during which the torque value or the absolute value of the rotational angular velocity of the motor is increasing. In the above configuration, the representative value of the motor also differs due to the difference in the load applied to the driven device at the start of driving by the motor. Therefore, by referring to the representative value of the motor in the first period, the load applied to the driven device can be recognized, and the normal range of the representative value in the second period can be appropriately changed. it can.

The change processing unit changes the representative value of the motor in the first period from a value less than a predetermined threshold value to a value equal to or more than a predetermined threshold value, or determines the representative value of the motor in the first period. When the value above the threshold value is changed to the value below the predetermined threshold value, the normal range may be changed.

In the above configuration, for example, it is assumed that the motor drives the driven device to move the stage for arranging the work on the driven device. When the work to be arranged on the stage is changed while the driven device is being driven, the load applied to the driven device fluctuates. Therefore, by changing the normal range as described above by the change processing unit, the normal range of the representative value in the second period can be appropriately changed.

The second period may include a period other than the first period. According to the above configuration, since the torque value, the rotational angular velocity, or the rotational angle of the motor in the period other than the first period is taken into consideration, the representative value in the second period is prevented so that the abnormality occurring in the drive mechanism is not undetected. The normal range of can be changed appropriately.

The second period may include a period in which the driven device is moved at a substantially constant speed. In the above configuration, since the driven device 32 moves at high speed during the period as described above, an abnormality is likely to occur in the drive mechanism. That is, the period during which an abnormality is likely to occur in the drive mechanism is considered. Therefore, the normal range of the representative value in the second period can be appropriately changed so that the abnormality occurring in the drive mechanism is not undetected.

The change processing unit changes the normal range of the representative value of the torque value of the motor in the second period according to the representative value of the torque value of the motor in the first period, and the abnormality detection unit. May detect an abnormality occurring in the drive mechanism by determining whether or not the representative value of the torque value of the motor in the second period is within the normal range.

In the above configuration, consider a case where a period in which the torque value changes when the load applied to the driven device changes is set as the first period. In this case, since the normal range in the second period is changed according to the torque value in the first period, the normal range can be set in consideration of the load applied to the driven device. Therefore, it is possible to detect an abnormality occurring in the drive mechanism regardless of the load applied to the driven device or the air temperature.

The change processing unit changes the normal range according to a representative value in the first period as a difference between the rotation angular velocity command value for controlling the motor and the measured value of the rotation angular velocity of the motor. You may. In the above configuration, consider a case where a period in which a difference between the rotation angular velocity command value and the measured value of the rotation angular velocity occurs when the load applied to the driven device changes is set as the first period. In this case, since the normal range in the second period is changed according to the difference in the first period, the normal range can be set in consideration of the load applied to the driven device. Therefore, it is possible to detect an abnormality occurring in the drive mechanism regardless of the load applied to the driven device or the air temperature.

The change processing unit changes the normal range according to a representative value in the first period as a difference between a rotation angle command value for controlling the motor and an actually measured value of the rotation angle of the motor. You may. In the above configuration, consider a case where a period in which a difference between the rotation angle command value and the measured value of the rotation angle occurs when the load applied to the driven device changes is set as the first period. In this case, since the normal range in the second period is changed according to the difference in the first period, the normal range can be set in consideration of the load applied to the driven device. Therefore, it is possible to detect an abnormality occurring in the drive mechanism regardless of the load applied to the driven device or the air temperature.

The information processing program according to one aspect of the present invention is an information processing program for operating a computer as the information processing device, and causes the computer to function as the change processing unit and the abnormality detection unit.

The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims, and the embodiments obtained by appropriately combining the technical means disclosed in the different embodiments. Is also included in the technical scope of the present invention.

1 PLC (information processing device)
3 Drive mechanism 31 Servo motor (motor)
32 Driven device 114 Change processing unit 115 Anomaly detection unit P1, P2, P3, P4, P6 1st period P1, P2, P5, P7 2nd period

Claims

An information processing device that processes information about an abnormality that occurs in a drive mechanism having a driven device and a motor that drives the driven device.
The drive period depends on the torque value, the rotational angular velocity, or the representative value of the rotation angle in the first period of the drive period from the start of the drive to the stop of the driven device by the motor. A change processing unit that changes the normal range of the torque value, rotational angular velocity, or typical value of the rotational angle in the second period of the
By determining whether or not the torque value, the rotational angular velocity, or the representative value of the rotational angle of the motor in the second period is within the normal range changed by the change processing unit, the drive mechanism is subjected to. An information processing device including an abnormality detection unit that detects an abnormality that occurs.
Regarding the representative value of the torque value, the rotational angular velocity, or the rotational angle of the motor in the first period, the representative value is an average value.
The information processing apparatus according to claim 1, wherein the representative values of the torque value, the rotational angular velocity, or the rotational angle of the motor in the second period are average values.
The information processing device according to claim 1 or 2, wherein the first period is at least a part of a period during which the torque value or the absolute value of the rotational angular velocity of the motor is increasing.
The change processing unit changes the representative value of the motor in the first period from a value less than a predetermined threshold value to a value equal to or more than a predetermined threshold value, or determines the representative value of the motor in the first period. The information processing apparatus according to any one of claims 1 to 3, wherein when the value above the threshold value is changed to a value below the predetermined threshold value, the normal range is changed.
The information processing device according to any one of claims 1 to 4, wherein the second period includes a period other than the first period.
The information processing device according to any one of claims 1 to 5, wherein the second period includes a period in which the driven device is moved at a substantially constant speed.
The change processing unit changes the normal range of the representative value of the torque value of the motor in the second period according to the representative value of the torque value of the motor in the first period.
From claim 1, the abnormality detecting unit detects an abnormality occurring in the drive mechanism by determining whether or not the representative value of the torque value of the motor in the second period is within the normal range. The information processing apparatus according to any one of 6.
The change processing unit changes the normal range according to a representative value in the first period as a difference between a rotation angular velocity command value for controlling the motor and an actually measured value of the rotation angular velocity of the motor. The information processing apparatus according to any one of claims 1, 4, 5, and 6.
The change processing unit changes the normal range according to a representative value in the first period as a difference between a rotation angle command value for controlling the motor and an actually measured value of the rotation angle of the motor. The information processing apparatus according to any one of claims 1, 4, 5, and 6.
An information processing method for processing information regarding an abnormality occurring in a drive mechanism having a driven device and a motor for driving the driven device.
The drive period depends on the torque value, the rotational angular velocity, or the representative value of the rotation angle in the first period of the drive period from the start of the drive to the stop of the driven device by the motor. The change processing step of changing the normal range of the torque value, the rotational angular velocity, or the representative value of the rotational angle in the second period of the above.
The drive mechanism is determined by determining whether or not the torque value, the rotational angular velocity, or the representative value of the rotational angle of the motor in the second period is within the normal range changed in the change processing step. An information processing method including an abnormality detection process for detecting an abnormality occurring in.
An information processing program for operating a computer as the information processing device according to claim 1, which is an information processing program for operating the computer as the change processing unit and the abnormality detection unit.