| 摘要 |
PURPOSE:To shorten both a target value calculation and a command value calculation and to satisfy accuracy and followup properties of control by executing the target value calculation and a current command value calculation in parallel by separate microcomputers. CONSTITUTION:A controller 10 contains therein an input signal 1 from a position detector of a motor, various sensors, main and sub microcomputers 2, 4 for calculating a target position and present position of the motor and a current command value, etc., from the signal 1, data transfer means 3 for transferring data between the main and sub microcomputers, and an output signal 5 to a clutch for turning ON/OFF the current command value to the motor, the output of the motor. The microcomputer 4 has a function as a backup microcomputer in view of improvement in reliability of the controller, senses the functional malfunction of the microcomputer 2 by a monitor signal 6, controls the signal 5 by an output control signal 7 at the time of the malfunction by an output converter 8, and outputs a final output 9 to the motor, etc. |
