| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a multi-axis motor controller that copes with addition or elimination of an axis while allowing a CPU to maximally exert its functions, and also to provide its control method. <P>SOLUTION: The multi-axis motor controller is provided with: a multi-axis control part 2 including a CPU 6 for executing position and speed control processing, a control-axis-number storage part 12 for storing numbers of control axes, a control-period storage part 14 for storing control periods, and a first communication part 11 for transmitting a torque command to a motor control part; a second communication part 20 for receiving the torque command; a current control part 16 for generating a voltage command from the torque command and a motor current; and a motor driving part 17 for power-amplifying the voltage command in order to drive a motor. The multi-axis control part has a control-period-table storage part 15 storing each control period corresponding to the number of control axes. Each motor control part has an ID storage part 18. The multi-axis control part reads out all IDs of the motor control parts before regular operation so as to confirm the number of control axes and stores the confirmed number of control axes in the control-axis-number storage part. The multi-axis control part reads a control period that corresponds to the confirmed number of control axes from the control-period-table storage part so as to store the read control period in the control-period storage part. <P>COPYRIGHT: (C)2009,JPO&INPIT |
