Title:
サーボモータ制御装置
Document Type and Number:
Japanese Patent JP6542844
Kind Code:
B2
Abstract:
A servo motor controller comprises: a position command generation unit; a position detection unit; a position control unit that generates a velocity command for position control based on a position command and a position FB; a force command generation unit that generates a force command for instructing force to be applied to a subject by a driving target; a force detection unit; a force control unit that generates a velocity command for force control based on the force command and a force FB; a selection unit that selects one of the position control and the force control; and a storage unit that stores a force threshold. The selection unit selects one of the velocity commands for the position control and the force control of a smaller value. If the force FB is smaller than the force threshold, the selection unit selects the velocity command for the position control.
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Inventors:
Satoshi Inokai
Nakamura Tsutomu
Tomoyuki Aizawa
Nakamura Tsutomu
Tomoyuki Aizawa
Application Number:
JP2017130332A
Publication Date:
July 10, 2019
Filing Date:
July 03, 2017
Export Citation:
Assignee:
FANUC Corporation
International Classes:
B30B15/14; B21D24/02; B21J15/16; B21J15/28; G05B19/19
Domestic Patent References:
| JP20067296A | ||||
| JP2014151361A | ||||
| JP200812588A | ||||
| JP1133799A | ||||
| JP2009217627A | ||||
| JP200626738A |
Attorney, Agent or Firm:
Masayuki Masabayashi
Tetsuo Shiba
Hiroaki Hoshino
Tetsuo Shiba
Hiroaki Hoshino