Abstract: A component transfer device includes a detector configured to detect a rotation angle of a driving motor that moves a pair of gripping sections, or a position of the gripping sections, and a motor control section configured to perform position feedback control of the driving motor based on a detection signal of the detector and a position command signal from the transfer control device. A transfer control device is provided with a torque monitoring section configured to monitor a value of a command torque applied to the driving motor from the motor control section, and a gripping state determining section configured to determine that there was a change in a gripping state of the component when, with the pair of gripping sections in a state gripping the component, the command torque monitored by the torque monitoring section drops to a value smaller than a first threshold value.

Abstract: A component transfer device includes a detector configured to detect a rotation angle of a driving motor that moves a pair of gripping sections, or a position of the gripping sections, and a motor control section configured to perform position feedback control of the driving motor based on a detection signal of the detector and a position command signal from the transfer control device. A transfer control device is provided with a torque monitoring section configured to monitor a value of a command torque applied to the driving motor from the motor control section, and a gripping state determining section configured to determine that there was a change in a gripping state of the component when, with the pair of gripping sections in a state gripping the component, the command torque monitored by the torque monitoring section drops to a value smaller than a first threshold value.

Abstract: Automatic control device controls servo motor. Automatic control device is provided with control section that calculates operation amount of servo motor based on the difference between current value and target value of a control amount of servo motor. Automatic control device is also provided with first filter that outputs first output value after using a first filter coefficient or a second filter coefficient to perform filtering of operation amount calculated by control section. Automatic control device is also provided with second filter, arranged in parallel with first filter, that outputs second output value after using a third filter coefficient to perform filtering of operation amount calculated by control section. Automatic control device is also provided with switching section that switches between first output value of first filter and second output value of second filter and sends one of the output values to servo motor.

Abstract: Automatic control device controls servo motor. Automatic control device is provided with control section that calculates operation amount of servo motor based on the difference between current value and target value of a control amount of servo motor. Automatic control device is also provided with first filter that outputs first output value after using a first filter coefficient or a second filter coefficient to perform filtering of operation amount calculated by control section. Automatic control device is also provided with second filter, arranged in parallel with first filter, that outputs second output value after using a third filter coefficient to perform filtering of operation amount calculated by control section. Automatic control device is also provided with switching section that switches between first output value of first filter and second output value of second filter and sends one of the output values to servo motor.