Display device

A display device for displaying servo data of a servo control device for controlling servo motors for driving axes of an industrial machine, the display device comprising:

• an acquisition unit configured to acquire time series data of an actual position and time series data of a command position of each of the servo motors or driven bodies;
• a movement trajectory calculation unit configured to calculate a movement trajectory of a tool based on the actual position and a movement trajectory of the tool based on the command position from the time series data of the actual position and the time series data of the command position of each of the servo motors or the driven bodies acquired by the acquisition unit;
• a trajectory error calculation unit configured to calculate time-series data of a trajectory error of the tool from the movement trajectory of the tool based on the actual position and the movement trajectory of the tool based on the command position calculated by the movement trajectory calculation unit;
• an amplitude calculation unit configured to perform frequency analysis of the time-series data of the trajectory error of the tool calculated by the trajectory error calculation unit, and calculate amplitudes of frequency components;
• a vibration detection unit configured to detect, from among the frequency components, a frequency component having an amplitude calculated by the amplitude calculation unit that is greater than a predetermined threshold, and detect a position corresponding to the detected frequency component as a vibration location;
• a vibration axis determination unit configured to extract a time range corresponding to the frequency component detected by the vibration detection unit, in the extracted time range, perform frequency analysis of time series data of a position deviation or a torque command of each of the axes, and determine, as a vibration axis, an axis having a frequency component having a great amplitude, the frequency component having the great amplitude being identical to the frequency component detected by the vibration detection unit;
• and
• a display unit configured to display the movement trajectory calculated by the movement trajectory calculation unit, display the vibration location detected by the vibration detection unit on the movement trajectory, and display the axis determined as the vibration axis by the vibration axis determination unit.