Multi-axis control adjustment apparatus, multi-axis control adjustment system, and multi-axis control adjustment method

Patent metadata

Field	Value
Publication number	US-11809154-B2
Application number	US-202117528201-A
Country	US
Kind code	B2
Filing date	Nov 17, 2021
Priority date	Dec 17, 2020
Publication date	Nov 7, 2023
Grant date	Nov 7, 2023

Abstract

A multi-axis control adjustment apparatus includes adjustment axis selection circuitry configured to select a plurality of target axes among a plurality of axes each of which represents a combination of a motor and a motor control device configured to control the motor according to a control parameter of the motor control device, adjustment operation execution circuitry configured to perform adjustment operations in each of which the control parameter is adjusted with respect to each of the plurality of target axes, and first control parameter setting circuitry configured to change, according to the adjustment operations, timing at which the control parameter is set with respect to each of the plurality of target axes.

First claim

What is claimed is:

1. A multi-axis control adjustment apparatus comprising:
adjustment axis selection circuitry configured to select a plurality of target axes among a plurality of axes each of which represents a combination of a motor and a motor control device configured to control the motor according to a control parameter of the motor control device;
adjustment operation execution circuitry configured to perform adjustment operations in each of which the control parameter is adjusted with respect to each of the plurality of target axes;
first control parameter setting circuitry configured to change, according to the adjustment operations, timing at which the control parameter is set with respect to each of the plurality of target axes; and
adjustment pattern setting circuitry configured to set an adjustment pattern of the control parameter alternatively to a first adjustment pattern and to a second adjustment pattern,
wherein, when the first adjustment pattern is set, a first adjustment operation is performed based on a common command and the control parameters are set to a same first value when the first adjustment operation is executed, and
wherein, when the second adjustment pattern is set, a second adjustment operation is performed based on individual commands and the control parameters are set to a same second value with respect to the plurality of target axes after the second adjustment operation is completed.

2. The multi-axis control adjustment apparatus according to claim 1 , wherein the adjustment operation execution circuitry is configured to perform the adjustment operations based on the common command or the individual commands.

3. The multi-axis control adjustment apparatus according to claim 1 , wherein the control parameter relates to responsiveness.

4. A multi-axis control adjustment system comprising:
the multi-axis control adjustment apparatus according to claim 1 ; and
a multi-axis control system comprising:
the plurality of axes; and
a host controller configured to synchronously control the plurality of axes.

5. The multi-axis control adjustment system according to claim 4 ,
wherein the motor control device includes a second control parameter setting circuitry configured to individually set the control parameter related to vibration suppression when the adjustment operation execution circuitry performs the adjustment operations with respect to the plurality of target axes based on the common command or the individual commands.

6. The multi-axis control adjustment apparatus according to claim 1 , wherein the plurality of axes are configured to be synchronously controlled by a host controller of a multi-axis control system.

7. The multi-axis control adjustment apparatus according to claim 1 , wherein the first same value is equal to the second same value.

8. The multi-axis control adjustment apparatus according to claim 1 , wherein the first same value is different from the second same value.

9. A multi-axis control adjustment apparatus comprising:
adjustment axis selection circuitry configured to select a plurality of target axes among a plurality of axes each of which represents a combination of a motor and a motor control device configured to control the motor according to a control parameter of the motor control device;
adjustment operation execution circuitry configured to perform adjustment operations in each of which the control parameter is adjusted with respect to each of the plurality of target axes; and
first control parameter setting circuitry configured to change, according to the adjustment operations, timing at which the control parameter is set with respect to each of the plurality of target axes,
wherein the adjustment operation execution circuitry is configured to perform the adjustment operations based on a common command or individual commands, and
wherein the first control parameter setting circuitry is configured to set the control parameter such that one control parameter with respect to one of the plurality of target axes is equal to another control parameter with respect to another of the plurality of target axes, while the adjustment operations are performed when the adjustment operations are performed based on the common command, and after completion of the adjustment operations when the adjustment operations are performed based on the individual commands.

10. The multi-axis control adjustment apparatus according to claim 9 , further comprising:
control parameter calculation circuitry configured to calculate the control parameter based on observed values with respect to each of the plurality of target axes during the adjustment operations when the adjustment operations are performed based on the common command.

11. The multi-axis control adjustment apparatus according to claim 9 , further comprising:
control parameter acquisition circuitry configured to acquire the control parameter calculated by the motor control device with respect to each of the plurality of target axes after the adjustment operations are completed when the adjustment operations are performed based on the individual commands; and
control parameter specifying circuitry configured to specify a lowest control parameter having a lowest responsiveness in the control parameter acquired by the control parameter acquisition circuitry.

12. The multi-axis control adjustment apparatus according to claim 9 , wherein the adjustment operation execution circuitry is configured to perform the adjustment operations such that the adjustment operations start at substantially same timing and complete at substantially same timing with respect to the plurality of target axes, in a case where the adjustment operations are performed on the plurality of target axes based on the individual commands.

13. The multi-axis control adjustment apparatus according to claim 9 , further comprising:
adjustment pattern setting circuitry configured to set an adjustment pattern of the control parameter alternatively to a first adjustment pattern when the plurality of target axes are mechanically constrained or to a second adjustment pattern when the plurality of target axes are not mechanically constrained,
wherein the adjustment operation execution circuitry is configured to perform the adjustment operations alternatively based on the common command when the first adjustment pattern is set or the individual commands when the second adjustment pattern is set.

14. A multi-axis control adjustment method comprising:
selecting a plurality of target axes among a plurality of axes each of which represents a combination of a motor and a motor control device configured to control the motor according to a control parameter of the motor control device;
performing adjustment operations in each of which the control parameter is adjusted with respect to each of the plurality of target axes;
changing, according to the adjustment operations, timing at which the control parameter is set with respect to each of the plurality of target axes; and
setting an adjustment pattern of the control parameter alternatively to a first adjustment pattern and to a second adjustment pattern,
wherein, when the first adjustment pattern is set, a first adjustment operation is performed based on a common command and the control parameters are set to a same first value when the first adjustment operation is executed, and
wherein, when the second adjustment pattern is set, a second adjustment operation is performed based on individual commands and the control parameters are set to a same second value with respect to the plurality of target axes after the second adju

Assignees

• Yaskawa Electric Corp

Inventors

• Koga Minoru
• Matsumura Isamu
• Watanabe Junichi
• KIRA Toshinobu
• Asai Tetsuya

Classifications

• G05B19/291 Primary

  the positional error is used to control continuously the servomotor according to its magnitude · CPC title

• G05B2219/34013

  Servocontroller · CPC title

• G05D3/12 Primary

  using feedback · CPC title

• G05B19/4083 Primary

  Adapting program, configuration · CPC title

• G05B13/042

  in which a parameter or coefficient is automatically adjusted to optimise the performance · CPC title