Title:
制御装置
Document Type and Number:
Japanese Patent JP6662834
Kind Code:
B2
Abstract:
A controller of the present invention for a drive mechanism which is driven by a plurality of motors includes a position command calculation unit and a torque command calculation unit, the position command calculation unit delivers a common position command value to each of the motors and the torque command calculation unit switches, according to the operation state of the drive mechanism, between individualization control for individually performing the output of an integral element of the torque command calculation unit to each of the motors and sharing control for sharing the output of the integral element of the torque command calculation unit to the motors.
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Inventors:
Kazunori Iijima
Application Number:
JP2017201645A
Publication Date:
March 11, 2020
Filing Date:
October 18, 2017
Export Citation:
Assignee:
FANUC Corporation
International Classes:
H02P5/54
Domestic Patent References:
| JP2003189657A | ||||
| JP2006304442A | ||||
| JP2005099981A |
Attorney, Agent or Firm:
Masayuki Masabayashi
Tetsuo Shiba
Hiroaki Hoshino
Tetsuo Shiba
Hiroaki Hoshino