US 10,747,194 B2Granted

Motor control device and motor control method

AssigneeFanuc Corporation

InventorsYusaku Oho, Kazunori Iijima

Life of this patent

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Abstract

A motor control device capable of promptly positioning a driven object at a target position, while suppressing backlash. The motor control device includes an operation command generation section for generating a first operation command and a second operation command for first and second motors to move the driven object; a preload command generation section for generating a first preload command which is added to the first operation command and a second preload command which is added to the second operation command in order that drive axes of the first motor and the second motor provide the driven object forces in opposite directions; and a preload command adjustment section for adjusting the first preload command and the second preload command in order that an absolute value of the above forces is decreased when an operation amount exceeds a predetermined threshold value.

Claims13

Dependent claims

A motor control device configured to control a first motor and a second motor to drive a driven object, the motor control device comprising:

a processor configured to:
generate a first operation command for the first motor to move the driven object in cooperation with the second motor and a second operation command for the second motor to move the driven object in cooperation with the first motor,
generate a first preload command to be added to the first operation command and a second preload command to be added to the second operation command in order for a drive axis of the first motor and a drive axis of the second motor to apply forces in opposite directions to the driven object when the driven object is stopped, and
adjust the first preload command and the second preload command so as to reduce an absolute value of the forces when an operation amount, that is acquired from at least one of the first operation command generated for the first motor to move the stopped driven object in a direction and the second operation command generated for the second motor to move the stopped driven object in the same direction, increases from a value at a time when the driven object is stopped and exceeds a predetermined threshold value.

1 more element

Dependencies are inferred from the claim text.

Facts

Application: 16/127,230Filed 11 Sep 2018
Priority: JP 2017-17504012 Sep 2017
Published: US 2019/0079487 A114 Mar 2019
Granted: 18 Aug 2020
Term ends: Not estimatedThe source records don’t support an estimate.

Classification8 codes

G05B 19/404
Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to…
G05B 11/36
Electric: with provision for obtaining particular characteristics, e.g. proportional, integral, differential
G05B 19/232
The positional error is used to control continuously the servomotor according to its magnitude: with speed feedback only
G05B 19/4141
Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller:…