Motor controller and motor control method

A method of controlling a motor, receiving as input an encoder signal changing in response to a driving position of a motor, outputting a motor driving command in response to the encoder signal to control at least one of the driving position or a driving velocity of the motor, comprising the steps of:

• executing selectively a subset of interrupt operations not needed to be executed every prescribed interrupt cycle but to be executed once in every prescribed number of the interrupt cycles;
• and
• executing another subset of the interrupt operations every prescribed interrupt cycle,
• wherein at least an operation to detect the driving position of the motor indicated by the encoder signal is executed every prescribed interrupt cycle,
• wherein at least an operation to generate the motor driving command is executed every prescribed number of the interrupt cycles in response to the driving position of the motor detected every prescribed interrupt cycle.

A non-transitory computer-readable recording medium having a program stored therein for causing a computer to execute a method of controlling a motor, receiving as input an encoder signal changing in response to a driving position of a motor, outputting a motor driving command in response to the encoder signal to control at least one of the driving position or a driving velocity of the motor, the method comprising the steps of:

• executing selectively a subset of interrupt operations not needed to be executed every prescribed interrupt cycle but to be executed once in every prescribed number of the interrupt cycles;
• and
• executing another subset of the interrupt operations every prescribed interrupt cycle,
• wherein at least an operation to detect the driving position of the motor indicated by the encoder signal is executed every prescribed interrupt cycle,
• wherein at least an operation to generate the motor driving command is executed every prescribed number of the interrupt cycles in response to the driving position of the motor detected every prescribed interrupt cycle.