| 摘要 |
PROBLEM TO BE SOLVED: To provide a motor speed control structure, a motor, a motor system, and a motor speed control method that allow speed limiter to be set at the time of robot arm control and other motor torque control.SOLUTION: A motor speed control structure 30 basically includes: a torque control system 1; a speed control system 5; and a comparison unit 9 that compares current command values by the control systems 1 and 5 and selects the smaller current command value as a final command value. The calculation processing in the torque control system 1 and the calculation processing in the speed control system 5 are performed in parallel at the same time. |
