Motor controller and method for controlling motor
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsYusuke Oka, Tadashi Okubo, Katsumi Ouchida
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Abstract
A motor controller includes memory, and processing circuitry that controls a motor based on a position command and based on a position detection value corresponding to a detected position of the motor, calculates a tolerance position error in a successive manner based on the position command and based on a control parameter used to control the motor, calculates a position error maximum threshold that depends on the tolerance position error, detects an abnormality based on the position error maximum threshold, and triggers an indication when the abnormality is detected.
Claims14
A motor controller, comprising:
- memory;
- and
- processing circuitry configured to
- control a motor based on a position command and based on a position detection value corresponding to a detected position of the motor,
- calculate a tolerance position error in a successive manner based on the position command and based on a control parameter used to control the motor,
- calculate a position error maximum threshold that depends on the tolerance position error,
- detect an abnormality based on the position error maximum threshold, and
- trigger an indication when the abnormality is detected, wherein
- the processing circuitry is further configured to fix the position error maximum threshold at a predetermined timing, and stop fixing the position error maximum threshold at a point of time when a position command velocity that is rate of change in time of the position command restarts increasing.
A method for controlling a motor, comprising:
- controlling the motor based on a position command and based on a position detection value corresponding to a detected position of the motor;
- calculating a tolerance position error in a successive manner based on the position command and based on a control parameter used in the controlling the motor;
- calculating a position error maximum threshold that depends on the tolerance position error;
- fixing the position error maximum threshold at a predetermined timing, and stopping fixing the position error maximum threshold at a point of time when a position command velocity that is a rate of change in time of the position command restarts increasing;
- detecting an abnormality based on the position error maximum threshold;
- and
- triggering an indication when the abnormality is detected.
Dependencies are inferred from the claim text.