| 摘要 |
PURPOSE:To preserve various types of sampling immediately before at the time of abnormal stop in memory means and to shorten repairing time by checking the content by providing memory means for storing sampled latest values for a positional deviation, speed, current, etc., in predetermined number backup memory. CONSTITUTION:Various values such as a positional deviation epsilonp, a speed command VCMD, a speed feedback value VFBK, a current command ICMD and a current feedback value IFBK are stored in a backup RAM 18 at each sampling time at the time of normal operation, and sequentially updated with latest values. If any malfunction is detected by abnormal time stop means 26 and an operation is stopped, data epsilonp, VCMD, VFBK, ICMD, IPBK sampled immediately before are preserved and retained in the backup RAM 18. Accordingly, the data are read by a CPU 11 to know the behavior of a servo immediately before the abnormal stop. |
