| 摘要 |
PURPOSE:To make it possible to detect the runaway of a servomotor without providing any special mechanism by monitoring the acceleration time of the servomotor and detecting the runaway. CONSTITUTION:A runaway detecting section 13 measures the acceleration time of a servomotor 4, and a runaway detection signal in proportion to the acceleration time exceeding a limited time proportionate to the movements (l) is outputted. While, a servo control section 14 makes the servo control of the servomotor 4 in proportion to the error between a target velocity and a detected velocity Vr. According to the constitution, even if any hindrance occurs in a velocity detecting section, the runaway can be detected without changing the servomotor. |
