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Title:
サーボモータ制御装置及び衝突検出方法
Document Type and Number:
Japanese Patent JP6517567
Kind Code:
B2
Abstract:
Provided is a device for controlling a servo motor, which has high precision of detecting collision. A position command velocity dimension signal output part (110a) of a servo motor control part (10a) outputs a velocity dimension signal corresponding to a position command. A servo motor velocity dimension signal output part (120) outputs a velocity dimension signal of the servo motor (20). A first collision detection part (130) detects the collision if the absolute value of a velocity variation becomes greater than or equal to a specific value. A position command acceleration dimension converting part (140a) converts the velocity dimension signal about the position command into an acceleration dimension signal and outputs the acceleration dimension signal. A servo motor acceleration dimension converting part (150) outputs an acceleration dimension signal of the servo motor (20). A second collision detection part (160) detects the collision if the absolute value of an acceleration variation becomes greater than or equal to a specific value. Then, a selection part (180) selects the first collision detection part (130) and the second collision detection part (160) by a detection method selecting configuration (191) of a parameter setting part (190).

Inventors:
桃澤 義秋
伊藤 彰啓
Application Number:
JP2015073831A
Publication Date:
May 22, 2019
Filing Date:
March 31, 2015
Export Citation:
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Assignee:
日本電産サンキョー株式会社
International Classes:
G05B13/04; B25J19/06
Domestic Patent References:
JP2003236787A
JP2146602A
JP2010058709A
JP2002142480A
Attorney, Agent or Firm:
堀 城之
前島 幸彦
長谷川 明
村上 大勇