| 摘要 |
PROBLEM TO BE SOLVED: To detect a work is normally retained by a stopper by externally outputting a state signal when variation in position detection value is zero and positional deviation exceeds a specified value, and this state lasts for a specified time with current command value maximized. SOLUTION: A state monitoring circuit 21 is fed with a position detection value obtained through the pulse generator 2 in a servo motor 1, a positional deviation on a deviation counter 11 and a current command value as the output of a speed controller 12. A comparator and a timer detect when the variation in position detection value is zeroed, the positional deviation exceeds a specified value, and this state lasts for a specified time with the current command value equal to the value of the maximum current of the servo motor 1. An AND element performs conjunction arithmetic operation for their respective operations. As a result, when the conditions of the AND element are met, it is possible to detect that a work is retained by a stopper. |
