Title:
CONTROL UNIT, MACHINE TOOL, CONTROL METHOD, AND COMPUTER PROGRAM
Document Type and Number:
Japanese Patent JP2022157480
Kind Code:
A
Abstract:
To provide a control unit and the like that can prevent the generation of vibration and reduce a drive time.SOLUTION: A control unit controls a motor that drives a holding unit for holding a workpiece through a gear, and comprises: a position control unit that controls the speed of the motor based on a position command indicating a target position of the motor; and a switching unit that, when the target position is reached during the control performed by the position control unit, switches the control of the motor from the control performed by the position control unit to control performed by a torque control unit that controls the speed of the motor based on a torque command indicating a target torque. The target position is determined based on backlash of the gear that drives the holding unit.SELECTED DRAWING: Figure 4
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Inventors:
TERADA GEN
Application Number:
JP2021061731A
Publication Date:
October 14, 2022
Filing Date:
March 31, 2021
Export Citation:
Assignee:
BROTHER IND LTD
International Classes:
G05B19/19; G05D3/12; H02K7/116; H02P29/00
Attorney, Agent or Firm:
Hidehito Kono
Tono Kono
Tono Kono
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