| 摘要 |
PROBLEM TO BE SOLVED: To simplify a circuit formation and provide size reduction even if the number of shafts to be controlled are plenty by fitting a common current control means which controls respective current supply circuit provided for each driving motor for each shaft, based on the position data of each shaft, control commands and current feedback data. SOLUTION: A current control circuit 1 conducts current feedback control based on the current feedback data of respective driving motors from power drive circuits 21, 31, 32, 33 provided for each motor for driving respective shafts, the position data of each shaft obtained from an encoder signal line, and motor torque commands received through a control bus from a host controller. The motor coil current of respective shaft driving motor is generated by a PWM output circuit 7 and are given to the respective power drive circuits 21, 31, 32, 33. A mother board circuit 41 relays various signals which the current control circuit sends and receives between the respective power drive circuits 21, 31, 32, 33 and an encoder. |
