Motor controller for protecting tool and object to be processed in emergency stop
AssigneeFanuc Corporation
InventorZhiwei Tang
Life of this patent
Estimating the term…
Abstract
A motor controller according to the present invention includes a stop cause detecting unit for detecting a stop cause by which an emergency stop of a motor is carried out, a stop command generating unit for generating a stop command that stops a tool along a command trajectory, and a retraction command generating unit for generating a retraction command that moves the tool and an object to be processed relatively with each other so that interference between the tool and the object to be processed is avoided. The motor controller is configured such that a machine tool is operated according to a superimposed command obtained by superimposing the retraction command onto the stop command when the stop cause detecting unit detects a stop cause.
Claims6
A motor controller for controlling a motor that drives a machine tool, the motor controller comprising:
- a stop cause detecting unit for detecting a stop cause by which an emergency stop of the motor is carried out;
- a stop command generating unit for generating a stop command that stops a tool along a command trajectory;
- and
- a retraction command generating unit for generating a retraction command that moves the tool and an object to be processed relatively with each other so that interference between the tool and the object to be processed is avoided,
- the motor controller being configured such that the machine tool is operated according to a superimposed command obtained by superimposing the retraction command onto the stop command when the stop cause detecting unit detects the stop cause.
Dependencies are inferred from the claim text.