Motor control device, method and program storage medium

A motor control method of a motor control device comprising a position control unit for generating a velocity instruction based on a position instruction and a motor position, a velocity control unit for generating a torque instruction based on the velocity instruction and a motor velocity, a motor drive unit for generating motor current based on the torque instruction, a model control unit for generating a model torque instruction based on the velocity instruction and a model velocity, and an inertia identification unit for identifying inertia from a predetermined position instruction according to a ratio of the motor torque instruction integrated value obtained by temporal integration of the torque instruction of the motor at a predetermined section and a model torque instruction integrated value obtained by temporal integration of the model torque instruction at a predetermined section, the method comprising:

• a step (step 1) of setting a maximum movable distance Pmax, a permitted velocity value Vmax, and a permitted acceleration value Amax;
• a step (step 2) of calculating a velocity instruction V based on the set permitted acceleration and deceleration value Amax and a maximum operation time Tmax;
• a step (step 3) of comparing the velocity instruction V and the permitted velocity value Vmax and setting the smaller value thereof as the velocity instruction V;
• a step (step 4) of calculating the movement distance P based on the velocity instruction V and the permitted acceleration value Amax;
• and
• a step (step 5) of comparing the calculated movement distance P and the maximum movable distance Pmax and setting the smaller value thereof as the movement distance P.

A non-transitory program storage medium storing a program for automatically generating an inertia identifying velocity instruction shape in a motor control device, the program being configured to execute:

• a step (step 1) of setting a maximum movable distance Pmax, a permitted velocity value Vmax, and a permitted acceleration value Amax;
• a step (step 2) of calculating a velocity instruction V based on the set permitted acceleration and deceleration value Amax and a maximum operation time Tmax;
• a step (step 3) of comparing the velocity instruction V and the permitted velocity value Vmax and setting the smaller value thereof as the velocity instruction V;
• a step (step 4) of calculating a movement distance P based on the velocity instruction V and the permitted acceleration value Amax;
• and
• a step (step 5) of comparing the calculated movement distance P and the maximum movable distance Pmax and setting the smaller value thereof as the movement distance P.