| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a motor driver for stably implementing a pressure control when a position control is switched to the pressure control. <P>SOLUTION: The motor driver 1 is provided with: a position controller 12 for calculating a first torque instruction 121 for making a motor position 31 track a position instruction 112 by using a motor 2 and an encoder 3 for detecting the motor position 31; a pressure controller 13 for calculating a second torque instruction 131 for making a pressure sensor value 51 as an output track a pressure instruction 113 by using a pressure sensor 5 for sensing a pressure applied from a work 4 driven by the motor 2 to a pressed object 6; and a sequence controller 11 for calculating a ratio of the first torque instruction 121 and the pressure sensor value 51 when the position controller 12 is used for applying the pressure, and switching a control from the position controller 12 to the pressure controller 13 when the constant ratio is stably maintained. <P>COPYRIGHT: (C)2007,JPO&INPIT |
