| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a function of detecting runaway of a motor and immediately detect abnormal rotation of the motor even when the motor is accelerated or decelerated to enhance the capability to protect the motor. <P>SOLUTION: A motor controller 1 controls the rotational speed of a motor driven according to a speed command. The motor controller 1 is provided with an abnormal rotation detecting means 21. It determines the rotation of a motor to be abnormal when the following conditions are met: the velocity error Ver obtained by subtracting a detected speed TSA of motor rotation from a speed command VCMD is equal to or higher than a threshold value; the sign of a product of an acceleration ΔTSA obtained by subtracting the previous value from the present value of detected speed detected in a predetermined cycle and a torque command Tc obtained by proportionally integrating the velocity error is negative; and the integrated value VerSUM of velocity error Ver exceeds a predetermined value ALMlevel. <P>COPYRIGHT: (C)2007,JPO&INPIT |
