| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a robot system which reduces heat generated in consuming regenerated energy generated by a motor in deceleration motion while suppressing deceleration time from being elongated without changing the control content of a drive control means controlling the drive of the motor. <P>SOLUTION: A control unit 27 lowers bus voltage Vd from a steady state value to a lower voltage limit value by performing on/off-control of a voltage control switch 30 when the motor M shifts from an acceleration motion state to a constant speed motion state. The bus voltage Vd rises by regenerated energy in the deceleration motion, however the peak value in the deceleration motion drops by an amount of drop of the bus voltage Vd in the constant speed motion. As a result, even when the bus voltage Vd becomes a regeneration consuming voltage value or above in the deceleration motion, the period when a regeneration consuming circuit 23 is activated is shortened by an amount the peak value dropped. <P>COPYRIGHT: (C)2011,JPO&INPIT |
