摘要:
A time constant automatic estimation apparatus for automatically estimating a time constant at a time of acceleration of a servo motor including: an electric current value detection section for detecting a peak electric current value when the servo motor is operated in acceleration using a provisional time constant provided in advance for a test operation; and a time constant estimation section for estimating a actual time constant when the servo motor is actually driven at a desired target electric current value at a time of an actual operation, from a relation between the peak electric current value and the provisional time constant.
摘要:
A servo motor control device includes a commanding section for outputting a move command signal to drive and control a plurality of servo motors. An interpolating section is provided for performing interpolation based on the move command signal output by the commanding section, and for outputting an interpolating signal based on that interpolation. The interpolating section is capable of performing circular arc interpolation when the commanding section outputs a circular arc move command signal. A distributing section outputs distribution pulse trains into each of the servo motors based upon the interpolating signal output by the interpolating section and an acceleration and deceleration time constant which is also received by the distributing section. The value of the acceleration and deceleration time constant is determined and adjusted by an acceleration and deceleration time constant determining section. The value of the acceleration and deceleration time constant is set to a predetermined initial value. The acceleration and deceleration time constant determining section controls and adjusts the value of the acceleration and deceleration time constant at least at the start of circular arc interpolation and at the stopping thereof. The stopping of the circular arc interpolation can occur upon the completion of the circular arc interpolation by the interpolating section or by the input of a stop command from the commanding section. Accordingly, the value of the acceleration and deceleration time constant is closely controlled to minimize stress on the drive mechanisms during stopping and starting thereof, while providing smooth and accurate arcs.