| 摘要 |
PURPOSE:To prevent the step-out of a motor by a method wherein a motor controller is provided with a detecting means of a stationary condition after starting control and a means for changing a relation between a phase difference and a control value under the stationary condition so that the control value is reduced compared with the same value upon rise-up. CONSTITUTION:A speed detection pulse, outputted from a rotary encoder 12, is given to an encoder signal inputting unit 13 while the output of the same unit 13 is given to a control unit 14. The control unit 14 is provided with a storage ROM for storing a CPU program and the like, a RAM for storing data and the like and effects the operating process of a difference between a commanding speed and a detection speed, the operating process of a phase difference between a speed commanding signal and a speed detection signal, the operating process of PWM data for controlling a servomotor 10 and the like. Judgement upon stationary time is effected by a fact whether the acceleration of the detection speed has become smaller than a predetermined value or not while the formula of relation between a phase difference and a control voltage is switched based on the result of the judgement so as to change a control value smaller compared with the same value upon rise-up. According to this method, the step-out of the motor may be prevented. |
