| 摘要 |
PROBLEM TO BE SOLVED: To provide a motor controller capable of detecting slipping of a belt without causing costs to increase by, for example, attaching a position sensor to a drive object as would be when slipping of a belt occurs when the drive force of a motor is conveyed to the drive object via the belt.SOLUTION: When slipping of a belt 9 occurs, after a speed detection value Vm of a motor 8 has reached a speed command value Vc, a force for deviating the speed from the speed command value Vc is added from a drive object 10 to the motor 8. At this time, a torque command output unit 22 outputs a torque command value Tc for resisting this force. By taking advantage of this phenomenon, a slipping determination unit 14 determines slipping of the belt 9 on the basis of the torque command value Tc for the motor 8 after the speed detection value Vm of the motor 8 has reached the speed command value Vc. |
