Motor controller with preprocessing of a command value
AssigneeFanuc Corporation
InventorsRyoutarou Tsuneki, Satoshi Ikai, Yao Liang
Life of this patent
Estimating the term…
Abstract
A motor controller includes: a command unit which outputs a command value for controlling a motor that drives a driven unit; a motor control unit which controls the motor based on the command value; a compensation filter which compensates for the command value; and a preprocessing unit which is provided in a stage preceding the compensation filter, the compensation filter has a frequency region in which a gain is greater than 1 and the preprocessing unit executes, when a variation in the command value before being compensated for with the compensation filter is equal to or less than a predetermined value, preprocessing in which a past command value is used as a current command value.
Claims2
A motor controller comprising:
- a processor, the processor being configured to:
- output a command value for controlling a motor that drives a driven part of a machine;
- control the motor based on the command value;
- and
- compensate the command value using a compensation filter that has a frequency region in which a gain is greater than one
- wherein
- the processor executes, when a variation in the command value before being compensated for with the compensation filter is equal to or less than a predetermined value for a predetermined period, preprocessing in which a past command value is used as a current command value prior to compensating the command value.
Dependencies are inferred from the claim text.