Title:
METHOD FOR DRIVING AND CONTROLLING MOTOR WHICH DRIVES VERTICAL SHAFT
Document Type and Number:
Japanese Patent JPH01320511
Kind Code:
A
Abstract:
PURPOSE:To minimize the travel time in a vertical direction of a driven body by deciding whether the travel of the driven body is directed in the working direction or the reverse direction of gravity, and permitting a current to optimize acceleration at the time of increasing or decreasing speed corresponding to a decided result to flow on a motor. CONSTITUTION:In case of moving the driven body 26 in a direction opposite to the one on which the gravity is applied i.e. an upward direction, the gravity at the time of increasing the sped causes the increase of a load on the motor 10, and causes the decrease of the load at the time of decreasing the speed. Also, when it is moved in a downward direction, the gravity at the time of increasing the speed causes the decrease of the load on the motor, and it causes the decrease of the load at the time of decreasing the speed. The acceleration at the time of increasing or decreasing the speed is decided under a condition used up to the limitation of the capacity of the motor 10 by considering the above cases, and the current corresponding to the condition is permitted to flow on the motor by a controller 32, thereby, the driven body 26 is moved to and stopped at a targeted position. By always using such motor 10 up to the limitation of its capacity, the travel time of the driven body 26 can be minimized.
Inventors:
TORII NOBUTOSHI
ITO SUSUMU
HAMURA MASAYUKI
SAKAI TAMOTSU
ITO SUSUMU
HAMURA MASAYUKI
SAKAI TAMOTSU
Application Number:
JP15339188A
Publication Date:
December 26, 1989
Filing Date:
June 23, 1988
Export Citation:
Assignee:
FANUC LTD
International Classes:
B25J13/00; G05D3/12; (IPC1-7): B25J13/00; G05D3/12
Attorney, Agent or Firm:
Aoki Akira (4 outside)