MOTOR CONTROL SYSTEM THAT DETECTS VOLTAGE SATURATION

摘要

A motor control system comprises a plurality of control apparatuses and a host control apparatus, wherein each of the control apparatuses include a position control unit controlling position based on a position command and commanded speed from the host control apparatus, a speed control unit controlling speed based on a speed command from the position control unit, a current control unit controlling current based on a current command from the speed control unit, and a current amplifier which amplifies motor driving current based on a voltage command from the current control unit, and wherein the current control unit includes a voltage saturation processing unit which determines whether the voltage command has exceeded supply voltage of the current amplifier, and which outputs the result of the determination, and a voltage saturation notifying unit which notifies the host control apparatus of the result of the determination made by the voltage saturation processing unit.

主权项

1. A motor control system comprising a plurality of control apparatuses for controlling a motor, and a host control apparatus which provides a command to said control apparatus, wherein each of said control apparatuses include:
a position control unit which controls position based on a position command and commanded speed provided from said host control apparatus; a speed control unit which controls speed based on a speed command supplied from said position control unit; a current control unit which controls current based on a current command supplied from said speed control unit; and a current amplifier which amplifies current for driving said motor, based on a voltage command supplied from said current control unit, and wherein said current control unit includes: a voltage saturation processing unit which determines whether said voltage command has exceeded supply voltage of said current amplifier, and which outputs a result of said determination; and a voltage saturation notifying unit which notifies said host control apparatus of the result of said determination made by said voltage saturation processing unit.