| 摘要 |
PURPOSE:To improve the precision in speed control by providing a phase comparator conducting phase comparison of a pulse signal with a control signal and adjusting a phase slippage in a servomotor for an industrial robot or the like. CONSTITUTION:In a servo apparatus for an industrial robot or the like, a motor 11 is controlled by means of a control power supply device 12, an encoder 31, an amplifier 19 and a servo amplifier 21. The motor 11 is made to be a servomotor of 16 poles and 12 slots. A torque ripple is 48/revolution. The encoder 31 is made to be of 48 pulses/revolution. In this constitution, a pulse signal of the encoder 31 is generated from the position of the peak of a periodically fluctuating rotational angular velocity of the motor 11. Therefore, detection of the rotational angular velocity of the motor 11 is always executed with respect to a prescribed maximum rotational angular velocity, a positional slippage between a frequency-division signal for driving the motor 11 and the pulse signal of the encoder 31 is detected and adjusted correctly, and thus the speed of the motor 11 can be controlled accurately. |
