| 摘要 |
PURPOSE: To prevent a machine from being broken by providing a scum riser detecting mechanism to detect an abnormal load caused at the time of a work colliding with a cutting scum on a servo mechanism. CONSTITUTION: A max. value of the allowable disturbance in the mechanical system is inputted into an arithmetic part 2 from a data inputting part 1. The arithmetic part 2 calculates a target positionθr and a disturbance max. level Tr, and inputs them into a position controlling part 6. By comparing the target positionθr and a present positionθf, an error amountθe is calculated. After executing many kinds of calculations, a disturbance estimating part 4 calculates the estimating disturbance torque T'L. When the estimating disturbance torque T'L exceeds the disturbance max. level Tr, a comparing part 3 gives an alarm detecting part 5 an instruction to stop the servo system. When the scum riser is generated, an abnormality in the servo system is detected.
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