To provide a servo motor control device for a robot adjusting maximum torque characteristics and/or continuous output characteristics, and also to provide the robot of easy maintenance and control.
The robot is allowed to carry out one cycle of teaching operation. In this operation, maximum torque required for each shaft servo motor M is obtained by a torque command or the like, and when the insufficiency of maximum torque occurs, a correction amount is increased by a field weakening current correction computing means 11 to increase a d-phase current to thereby increase maximum torque. Whether continuous rated output is insufficient is determined from a detected motor temperature, and when the continuous rated output is insufficient, the correction amount is decreased to reduce the d-phase current, thus adjusting continuous output characteristics. Servo motors of the same specification are used as drive sources of the respective shafts of the robot, and the field weakening current (d-phase current) is adjusted to provide the servo motor with characteristics corresponding to each shaft. Hardware is used in common to facilitate assembly and maintenance-control of the robot.
IWASHITA HEISUKE
KATO TETSURO
Hideo Sugiyama
Koichi Yuda
Uozumi Takahiro
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