| 摘要 |
[object] A motor is prevented from being stopped by generation of an overspeed alarm or the like when a main circuit power source voltage is restored. [solving means] A control part 6 includes a torque limiting portion 17 that starts torque limiting which limits a command torque Tr to a predetermined torque or less when a voltage detection portion 5 detects that a direct-current voltage falls below a predetermined voltage and that cancels the torque limiting when the voltage detection portion 5 detects that the direct-current voltage exceeds the predetermined voltage; a calculating portion 21 and a subtractor 28 that matches a speed command Vr with a first position command speed dPr1 when after the cancellation of the torque limiting, a motor speed Vfb matches the first position command speed dPr1; a holding portion 22 that calculates and holds an accumulated position deviation µbuf which is the position deviation accumulated at least during the torque limiting; and an issuing portion 23 that issues, with a predetermined speed profile, a second position command Pr2 corresponding to the accumulated position deviation µbuf held in the holding portion 22 after the start of deceleration of the first position command speed dPr1. |
