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US 9,270,209 B2Granted
Servo apparatus, and controlling method of servo apparatus
AssigneeCanon Kabushiki Kaisha
InventorSomei Kawasaki
Life of this patent
Estimating the term…
Abstract
In a servo apparatus which comprises a motor, a shaft angle detecting unit and a controlling unit, and performs standard control of an angle position by a torque controlling method, it enables to perform driving control corresponding to a fraction multiple of a predetermined angular unit.
Claims8
A servo apparatus comprising:
- a motor configured to output rotation;
- a shaft angle detecting unit configured to detect an angle change of a shaft rotating by the rotation output of the motor, for a predetermined angular unit;
- and
- a controlling unit configured to be able to perform standard control of, based on an input indicated angle, generating an integer multiple driving instruction corresponding to an integer multiple of the predetermined angular unit, and providing the generated integer multiple driving instruction to the motor to drive and control the motor,
- wherein the controlling unit can perform micro control of, based on the input indicated angle, providing, to the motor, a fraction multiple driving instruction in which instructions corresponding to the integer multiple of the predetermined angular unit are arranged to form a predetermined pattern with a predetermined period and an average value thereof corresponds to a fraction multiple of the predetermined angular unit, to drive and control the motor.
2 more elements
A controlling method for a servo apparatus, which comprises:
- a motor configured to output rotation;
- a shaft angle detecting unit configured to detect an angle change of a shaft rotating by the rotation output of the motor, for a predetermined angular unit;
- and a controlling unit configured to be able to perform standard control of, based on an input indicated angle, generating an integer multiple driving instruction corresponding to an integer multiple of the predetermined angular unit, and providing the generated integer multiple driving instruction to the motor to drive and control the motor,
- wherein the controlling unit carries out a micro controlling step to perform micro control of, based on the input indicated angle, providing, to the motor, a fraction multiple driving instruction in which instructions corresponding to the integer multiple of the predetermined angular unit are arranged to form a predetermined pattern with a predetermined period and an average value thereof corresponds to a fraction multiple of the predetermined angular unit, to drive and control the motor.
1 more element
Dependencies are inferred from the claim text.