Abstract: In a motor controller according to the present invention, a speed control unit 24m includes an integrator calculating an integrated value Sm of a speed error ?m-?m? between a speed command value wm and a rotation speed ?m? and generates a torque command value Tm based on ?m-?m?, a predetermined value, a proportional gain and an integration gain. A speed control unit 24s includes an integrator calculating an integrated value Ss of a speed error ?s-?s? between a speed command value ?s and a rotation speed ?s? and generates a torque command value Ts based on ?s-?s?, the predetermined value, a proportional gain and an integration gain. An integrated value selecting unit 28 selects any one of Sm and Ss as the predetermined value, depending on a drive status of a main motor 6m and a sub motor 6s.

Abstract: A motor control system comprises a plurality of control apparatuses and a host control apparatus, wherein each of the control apparatuses include a position control unit controlling position based on a position command and commanded speed from the host control apparatus, a speed control unit controlling speed based on a speed command from the position control unit, a current control unit controlling current based on a current command from the speed control unit, and a current amplifier which amplifies motor driving current based on a voltage command from the current control unit, and wherein the current control unit includes a voltage saturation processing unit which determines whether the voltage command has exceeded supply voltage of the current amplifier, and which outputs the result of the determination, and a voltage saturation notifying unit which notifies the host control apparatus of the result of the determination made by the voltage saturation processing unit.

Abstract: In position tandem control in which one movable member is driven by two motors, an output of the integral element of the velocity control unit in the control system for one motor is copied to the integral element of the velocity control unit in the control system for the other motor. A preload is added to a torque command output from each of the velocity control units in the motor control systems for two motors so that torques in mutually opposite directions are generated to suppress backlash between gears.

Abstract: A servo control system capable of using an angle-based synchronization learning control, even when a reference position is not given, while maintaining the advantage of the angle-based synchronization method. The servo control system has X-, y- and z-axes servo controllers, each configured to control x-, y- and z-axes servomotors, respectively. Each of x- and y-axes servo controllers has a reference signal generating part configured to generate a reference signal which monotonically increases or varies in one direction, based on the position command of each axis transmitted from a higher-level controller.

Abstract: A motor drive system is provided with a plurality of axis control parts for outputting PWM commands using a position command, a plurality of current supply parts which supply current to the respective windings based on the PWM commands of the respective axis control parts, and which are connected to the respective windings, a motor position detector for outputting a signal of a rotor position of the motor, a first signal supply part for supplying the output signal to one current supply part of the plurality of current supply parts, and a second signal supply part for supplying the signal supplied through the first signal supply part to an axis control part corresponding to one current supply part, and the corresponding axis control part outputs a PWM command based on the signal supplied from the one current supply part through the second signal supply part to the corresponding axis control part and the position command, and the remaining axis control part outputs the PWM command based on the signal supplied f

Abstract: A servo control apparatus that performs dual-position feedback control and thereby achieves a reduction in position error according to the purpose of machining.

Abstract: A servo control apparatus that performs dual-position feedback control and thereby achieves a reduction in position error according to the purpose of machining.

Abstract: A motor drive system is provided with a plurality of axis control parts for outputting PWM commands using a position command, a plurality of current supply parts which supply current to the respective windings based on the PWM commands of the respective axis control parts, and which are connected to the respective windings, a motor position detector for outputting a signal of a rotor position of the motor, a first signal supply part for supplying the output signal to one current supply part of the plurality of current supply parts, and a second signal supply part for supplying the signal supplied through the first signal supply part to an axis control part corresponding to one current supply part, and the corresponding axis control part outputs a PWM command based on the signal supplied from the one current supply part through the second signal supply part to the corresponding axis control part and the position command, and the remaining axis control part outputs the PWM command based on the signal supplied f

Abstract: In position tandem control in which one movable member is driven by two motors, an output of the integral element of the velocity control unit in the control system for one motor is copied to the integral element of the velocity control unit in the control system for the other motor. A preload is added to a torque command output from each of the velocity control units in the motor control systems for two motors so that torques in mutually opposite directions are generated to suppress backlash between gears.

Abstract: There is provided a servo controller for synchronously controlling a master side drive source to drive one drive axis and a slave side drive source to drive the other drive axis. The servo controller includes a correction data calculation means for calculating correction data to correct a positional deviation of a slave side drive source according to a synchronization error which is a difference between a positional deviation of a master side drive source and a positional deviation of the slave side drive source, in which the correction data is added to the positional deviation of the slave side drive source.

Abstract: A controller including a learning control unit for determining learning data based on a positional deviation between a target-position command commanding superimposed-type motion including repetitive motion and a positional fed-back variable obtained from an output portion of an electric motor; and an operation control section for controlling the electric motor based on a corrected positional deviation. The learning control unit includes a first learning section for periodically determining, based on the positional deviation, and storing, first learning data according to a first learning period; a learning-data correcting section for correcting the first learning data to eliminate an influence of a local change included in the target-position command or the positional fed-back variable and periodically arising according to a period different from the first learning period; and a positional-deviation correcting section for correcting the positional deviation by using corrected learning data.

Abstract: A servo controller for synchronously controlling a master driving source for driving a driving shaft and a slave driving source for driving a driven shaft, having a position control section that performs a position control based on a positional deviation which is a difference between a position command value given to the slave driving source and a feedback value detected from the slave driving source, an operational section that calculates a synchronization error which is a difference of the positional deviation between the master driving source and the slave driving source, and a correction data calculating section that calculates first correction data for correcting the positional deviation of the slave driving source.

Abstract: A controller including a learning control unit for determining learning data based on a positional deviation between a target-position command commanding superimposed-type motion including repetitive motion and a positional fed-back variable obtained from an output portion of an electric motor; and an operation control section for controlling the electric motor based on a corrected positional deviation. The learning control unit includes a first learning section for periodically determining, based on the positional deviation, and storing, first learning data according to a first learning period; a learning-data correcting section for correcting the first learning data to eliminate an influence of a local change included in the target-position command or the positional fed-back variable and periodically arising according to a period different from the first learning period; and a positional-deviation correcting section for correcting the positional deviation by using corrected learning data.

Abstract: There is provided a servo controller for synchronously controlling a master side drive source to drive one drive axis and a slave side drive source to drive the other drive axis. The servo controller includes a correction data calculation means for calculating correction data to correct a positional deviation of a slave side drive source according to a synchronization error which is a difference between a positional deviation of a master side drive source and a positional deviation of the slave side drive source, in which the correction data is added to the positional deviation of the slave side drive source.

Abstract: In response to a learning control start command from an external apparatus, an input switch for inputting a position deviation to learning control means and an output switch for outputting correction data from the learning control means are turned on, respectively, so that a position deviation is captured for each period. The position deviation is added to correction data fetched from a learning memory, and the result is stored as correction data in the learning memory. On the other hand, a value obtained by compensating the correction data fetched from the learning memory with a dynamic characteristic compensation element is added to the position deviation, and the result is inputted to a position control section. When a learning control end command is issued after the termination of a command pattern for an identical shape, the input switch and output switch are turned off, respectively.

Abstract: In response to a learning control start command from an external apparatus, an input switch for inputting a position deviation to learning control means and an output switch for outputting correction data from the learning control means are turned on, respectively, so that a position deviation is captured for each period. The position deviation is added to correction data fetched from a learning memory, and the result is stored as correction data in the learning memory. On the other hand, a value obtained by compensating the correction data fetched from the learning memory with a dynamic characteristic compensation element is added to the position deviation, and the result is inputted to a position control section. When a learning control end command is issued after the termination of a command pattern for an identical shape, the input switch and output switch are turned off, respectively.

Abstract: A switch is turned on by a learning control start command from a master control unit, and the positional deviation at respective cycles is read in. Correction data read out from a learning memory is added to the positional deviation, and the result is filtered by band limiting filter and then stored in the learning memory as correction data. The correction data read out from the memory is compensated for phase delay, fall in gain, and the like, by a dynamics compensating element, and is added to the positional deviation and input to a positional control section. When the command pattern for the same shape is completed, and a learning control end command is output, whereupon the switch is turned off and learning control terminates.

Abstract: A servo controller carries out tandem control in which one driven body is driven by a plurality of motors. Each motor is provided with a position control section, a velocity control section, a current control section, a current amplifier, and a velocity detector. This tandem control is carried out by using a velocity integrator sharing unit for equalizing integral values of integration elements of the velocity control sections. The same position command is inputted to control systems for the plurality of motors to undergo tandem control. The velocity integrator sharing unit keeps the integral values of the integration elements of the velocity control sections substantially equal.

Abstract: A switch is turned on by a learning control start command from a master control unit, and the positional deviation at respective cycles is read in. Correction data read out from a learning memory is added to the positional deviation, and the result is filtered by band limiting filter and then stored in the learning memory as correction data. The correction data read out from the memory is compensated for phase delay, fall in gain, and the like, by a dynamics compensating element, and is added to the positional deviation and input to a positional control section. When the command pattern for the same shape is completed, and a learning control end command is output, whereupon the switch is turned off and learning control terminates.

Abstract: A servo controller carries out tandem control in which one driven body is driven by a plurality of motors. Each motor is provided with a position control section, a velocity control section, a current control section, a current amplifier, and a velocity detector. This tandem control is carried out by using a velocity integrator sharing unit for equalizing integral values of integration elements of the velocity control sections. The same position command is inputted to control systems for the plurality of motors to undergo tandem control. The velocity integrator sharing unit keeps the integral values of the integration elements of the velocity control sections substantially equal.