Title:
SERVO MOTOR CONTROLLER
Document Type and Number:
WIPO Patent Application WO/1988/004446
Kind Code:
A1
Abstract:
A servo motor controller wherein positioning response lag caused by backlash or friction is improved. The NC apparatus and the robot controller send a position command (MC(i)), a backlash correction command (BL(i)) and a backlash correction flag (BLF(i)) to the servo mechanism. The correction circuit (A) discriminates the inversion of quadrant of the moving part on the basis of the correction flag (BLF(i)), and produces a torque correction command (FR) that corresponds to the friction torque. The correction command (FR) is added to a torque command which is calculated from the position command (MC(i)) and the position signal (POS(i)), and is sent to the servo motor.
Inventors:
KURAKAKE MITSUO (JP)
SAKAMOTO KEIJI (JP)
SAKAMOTO KEIJI (JP)
Application Number:
PCT/JP1987/000968
Publication Date:
June 16, 1988
Filing Date:
December 11, 1987
Export Citation:
Assignee:
FANUC LTD (JP)
International Classes:
G05D3/12; G05B19/404; G05D17/02; H02P29/00; (IPC1-7): G05D3/12
Foreign References:
| JPS60116004A | 1985-06-22 | |||
| JPH0633013A | 1994-02-08 |
Other References:
See also references of EP 0292575A4
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