| 摘要 |
PROBLEM TO BE SOLVED: To provide a technology capable of quickly eliminating a failure in an operation to stop a conveyance mechanism at a targeted position, in a motor controlling device that drives the conveyance mechanism delivering objects to be conveyed.SOLUTION: A controlling device is configured to comprise: a calculation part for calculating a command value of current fed to a motor on the basis of the motor's encoder value, speed, and parameter; a feed part for feeding current to the motor on the basis of the command value calculated by the calculation part; a parameter storage part for storing the parameter; a determination part for determining whether a conveyance mechanism is normal or not when a positioning operation is performed to stop the conveyance mechanism at a targeted position; and a program configured to change the parameter when the determination part determines a failure has occurred, and to control the motor according to the changed parameter to perform the positioning operation, the program being configured to further change the parameter when the determination part still determines a failure has occurred. |
