Title:
CONTROL UNIT, MACHINE TOOL, CONTROL METHOD, AND COMPUTER PROGRAM
Document Type and Number:
Japanese Patent JP2022157479
Kind Code:
A
Abstract:
To provide a control unit, a machine tool, a control method, and a computer program that can prevent a sudden change in acceleration during switching from a torque control to a position control.SOLUTION: A control unit controls a motor that drives a holding unit for holding a workpiece. The control unit comprises: a torque control unit that controls the speed of the motor based on a torque command indicating a target torque; a first calculation unit that calculates the speed of the motor; a second calculation unit that calculates a reaching time being the time required for the speed calculated by the first calculation unit to reach the target speed; a determination unit that, during the control performed by the torque control unit, determines whether the reaching time derived by the second calculation unit is equal to or less than a predetermined reference time; and a switching unit that, when the determination unit determines that the reaching time is equal to or less than the reference time, switches speed control of the motor from the control performed by the torque control unit to control performed by a position control unit that controls the speed of the motor based on a position command indicating a target position.SELECTED DRAWING: Figure 4
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Inventors:
TERADA GEN
Application Number:
JP2021061730A
Publication Date:
October 14, 2022
Filing Date:
March 31, 2021
Export Citation:
Assignee:
BROTHER IND LTD
International Classes:
G05B19/19; G05D3/12; H02P29/20
Attorney, Agent or Firm:
Hidehito Kono
Tono Kono
Tono Kono