| 摘要 |
PROBLEM TO BE SOLVED: To detect irregularities such as in the start of power feeding, instruction of ending angle, etc., by determining whether the range of predetermined normal power feeding angle corresponding to combination based on direction of rotation and torque of a motor is within the specified range of the power feeding instruction angle from the power feeding/non-feeding instruction and detecting angle. SOLUTION: A CPU detects the failure of a power feeding/non-feeding control system respectively for power feeding controllers CON 1, 2, 3. Rotation in the positive direction and torque are determined (ST 1) to respectively determine (ST 2) whether or not three power feeding instruction angle ranges detected by the power feeding controllers CON 1, 2, 3 are within a normal power feeding angle range of the designated first pair. When three ranges are within this range, a failure flag is turned off (ST 3), but if even one of the three ranges is not within the range, the flag is turned on (ST 4). If the rotation is not in the positive direction and torque is not negative (ST 5), whether or not rotation is in the negative direction and torque is positive is determined (ST 7). If so, whether three detecting instruction angle ranges of the power feeding controllers CON 1, 2, 3 are in the normal power feeding angle range of the designated third pair of not is determined (ST 8). A CPU stops the motor by turning off the failure flag with a low level binary signal. |
