Positioning control device and method for moving a mechanical load by a target distance using a motor

A positioning control device in which motion of a motor in a positioning operation of causing a mechanical load mechanically connected to the motor to move by a target moving distance is specified by operational conditions and by command parameters, the command parameters being parameters changeable under the operational conditions, the positioning control device comprising:

• adjustment circuitry to perform adjustment in which the positioning operation is performed based on an adjustment condition and on a trial parameter, and one of the command parameters is determined to be an excellent parameter corresponding to the adjustment condition based on an evaluation result, the adjustment condition being one type of the operational conditions, the trial parameter being one type of the command parameters, the evaluation result being based on a state sensor signal that represents a state of any one of a position, a speed, or an acceleration of the motor or of the mechanical load detected during the positioning operation performed;
• adjustment record memory to store a pair of the adjustment condition and the excellent parameter corresponding to the adjustment condition, as an adjustment record;
• estimation circuitry to determine, based on the adjustment record, one of the command parameters to be an estimated excellent parameter corresponding to a non-adjustment condition, the non-adjustment condition being one type of the operational conditions different from the adjustment condition stored as the adjustment record;
• and
• adjustment management circuitry to determine an additional adjustment condition that is one type of the operational conditions different from the adjustment condition, wherein
• the adjustment circuitry performs the adjustment under the additional adjustment condition determined by the adjustment management circuitry, and determines one of the command parameters to be an additional excellent parameter corresponding to the additional adjustment condition,
• the adjustment record memory further stores a pair of the additional adjustment condition and the additional excellent parameter, as an additional adjustment record,
• the adjustment circuitry performs the positioning operation based on the non-adjustment condition and on the estimated excellent parameter, as a verification positioning operation, and
• the adjustment management circuitry determines whether an evaluation result based on the state sensor signal obtained in the verification positioning operation satisfies a predetermined criterion, and when the criterion is not satisfied, performs determination of the additional adjustment condition.