# US 12,113,463 B2 · Motor control device

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 12,113,463 B2
- Document ID: US12113463B2
- Status: Granted
- Kind: B2
- Application number: 17/925,938
- Filed: 2021-05-14
- Published: 2023-06-15
- Granted: 2024-10-08
- Earliest claimed: 2020-05-20
- Assignees: Fanuc Corporation
- Applicants: Fanuc Corporation
- Inventors: Naoya Nishinaga; Kenta Yamamoto
- Web page: https://patentgrep.com/patent/US12113463B2

## CPC

- H02P 6/22: in a selected direction of rotation
- H02P 23/24: Controlling the direction, e.g. clockwise or counterclockwise
- H02P 6/30: Arrangements for controlling the direction of rotation (H02P6/22 takes precedence)
- H02P 23/14: Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
- H02P 27/085: {wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency}
- H02P 29/028: the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
- H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS

## Abstract

When the rotation direction of a motor is determined by a connection determination unit not to match a rotation command, the phase sequence of a current detection signal and the phase sequence of a voltage command are changed by a phase sequence change unit, or the positive/reverse polarity of an encoding signal outputted from an encoder is inverted by the phase sequence change unit, whereby the rotation direction of the motor controlled by a motor control device can match the rotation command.

## Claims

### Claim 1

A motor control device comprising:
a control unit configured to control a motor on a basis of voltage commands that are based on a rotation command;
a rotation direction detection unit configured to detect a normal or reverse polarity of a rotation direction of the motor; and
a current detection unit configured to detect a current flowing through each of power lines of the motor, wherein
the control unit includes a connection determination unit for the power lines, and a phase rotation change unit,
the connection determination unit for the power lines determines whether the rotation direction of the motor that is based on the rotation command and the rotation direction detected by the rotation direction detection unit match or mismatch each other, and
when the rotation directions are determined to mismatch each other by the connection determination unit, the phase rotation change unit changes a phase rotation of detected current values and a phase rotation of the voltage commands, or reverses a polarity detected by the rotation direction detection unit, thereby controlling the motor.

### Claim 2 (depends on 1)

The motor control device according to claim 1, wherein
when the voltage commands for providing a first excitation phase are output from the control unit, and the voltage commands for providing a second excitation phase different from the first excitation phase are further output from the control unit, the connection determination unit for the power lines determines whether the rotation directions match or mismatch each other.

### Claim 3 (depends on 1)

The motor control device according to claim 1, further comprising a determination result storage unit configured to store a determination result of the connection determination unit, wherein
the control unit controls the motor on a basis of the determination result stored in the determination result storage unit.

### Claim 4 (depends on 3)

The motor control device according to claim 3, further comprising a display unit, wherein
the control unit causes at least the determination result to be displayed on the display unit.