| 摘要 |
PROBLEM TO BE SOLVED: To accurately detect abnormal loads and to accurately detect collisions while the drive state of a servo motor fluctuates. SOLUTION: The speed region of a motor is divided into the regions of a first switching speed VS1 or lower, a second switching speed VS2 or higher and between the first and second switching speeds. An abnormal load determination level AL to be compared with an estimated load T obtained in an observer for each region is set. An abnormal load determination level AL4 when an acceleration A exceeds a threshold AS is set. When the acceleration A commanded to the motor exceeds the threshold AS, the abnormal load determination level AL4 is compared with the estimated load T until prescribed time after the acceleration A declines thereafter. Otherwise, it is compared with the abnormal load determination level AL corresponding to the speed. When the estimated load T exceeds the comparison abnormal load determination level, the collision is detected. Since the abnormal load determination level is switched corresponding to the drive state of the motor, the collision is accurately detected. COPYRIGHT: (C)2007,JPO&INPIT
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