Motor controller and motor control method

摘要

A motor controller receiving as input an encoder signal changing in response to a driving position of a motor, outputting a motor driving command in response to the encoder signal to control at least one of the driving position or a driving velocity of the motor, includes an interrupt processing section to execute interrupt operations every prescribed interrupt cycle, a low-frequency processing section to selectively execute a subset of the interrupt operations every prescribed number of the interrupt cycles, and a high-frequency processing section to execute another subset of the interrupt operations every prescribed interrupt cycle, wherein the high-frequency processing section executes at least an operation to detect the driving position indicated by the encoder signal, wherein the low-frequency processing section executes at least an operation to generate the motor driving command.

主权项

1. A motor controller receiving as input an encoder signal changing in response to a driving position of a motor, outputting a motor driving command in response to the encoder signal to control at least one of the driving position or a driving velocity of the motor, comprising:
an interrupt processing section to execute interrupt operations every prescribed interrupt cycle, the interrupt processing section including a low-frequency processing section and a high-frequency processing section; the low-frequency processing section to selectively execute a subset of the interrupt operations not needed to be executed every prescribed interrupt cycle but to be executed once in every prescribed number of the interrupt cycles; and the high-frequency processing section to execute another subset of the interrupt operations every prescribed interrupt cycle, wherein the high-frequency processing section executes at least an operation to detect the driving position of the motor indicated by the encoder signal, wherein the low-frequency processing section executes at least an operation to generate the motor driving command in response to the driving position of the motor detected with the high-frequency processing section.