MOTOR CONTROLLER, ROBOT HAND, ROBOT AND MOTOR CONTROL METHOD

摘要

PROBLEM TO BE SOLVED: To provide a motor controller which rotates a rotating shaft with torque not exceeding a torque limit value while performing speed control of the rotating shaft.

SOLUTION: A motor controller which controls a motor 5 by using an angle data signal 24 and a rotational speed signal 29 output by a rotation detector 19 for detecting a rotational state of a rotating shaft 5a of the motor 5 comprises: a speed controller 31 for outputting a torque command signal 37 corresponding to a difference between a rotational speed of the rotating shaft 5a and a speed command 27 by using the speed command 27 of the rotating shaft 5a and the rotational speed signal 29; a limit value setting section 46 for setting a torque limit value indicating a maximum value of torque applied to the rotating shaft 5a; and a torque limit controller 38 for limiting the torque applied to the rotating shaft 5a driven by the torque command signal 37 to torque not greater than the torque limit value.

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