Multi-axis motor driving system and multi-axis motor driving apparatus
AssigneeKabushiki Kaisha Yaskawa Denki
InventorIsamu Matsumura
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Abstract
The multi-axis motor driving apparatus includes an integrated controller that is configured to discriminate between a drive axis that uses the motor subjected to semi-closed control based on the motor control command and a detection position detected by the encoder and a drive axis that uses the motor subjected to full-closed control based on the motor control command, the detection position detected by encoder and a detection position detected by the linear scale, based on a change amount of the detection position of the encoder or the detection position of the linear scale obtained when the motor subjected to full-closed control is driven.
Claims13
A multi-axis motor driving system, comprising:
- a plurality of motors, each comprising a first detector for detecting at least a position;
- a host control device for outputting a motor control command;
- at least one second detector for detecting a position of a load of at least one of the plurality of motors;
- and
- a multi-axis motor driving apparatus including a controller for driving the plurality of motors based on the motor control command and for discriminating, based on a change amount of a first detection position detected by the first detector and a change amount of a second detection position detected by the second detector, between a first drive axis for driving the motor by using the first detection position and a second drive axis for driving the motor by using the second detection position.
A multi-axis motor driving apparatus, comprising:
- a controller for driving a plurality of motors each including a first detector based on a motor control command output from a host control device, and for discriminating, based on a change amount of a first detection position detected by the first detector or a change amount of a second detection position detected by at least one second detector for detecting a position of a load of the motor, between a first drive axis for driving the motor by using the first detection position and a second drive axis for driving the motor by using the second detection position.
A multi-axis motor driving apparatus, comprising:
- control means for driving a plurality of motors each including a first detector based on a motor control command output from a host control device, and for discriminating, based on a change amount of a first detection position detected by the first detector or a change amount of a second detection position detected by at least one second detector for detecting a position of a load of the motor, between a first drive axis for driving the motor by using the first detection position and a second drive axis for driving the motor by using the second detection position.
Dependencies are inferred from the claim text.