US Patent No. 10,921,800

MOTOR CONTROL DEVICE


Patent No. 10,921,800
Issue Date February 16, 2021
Title Motor Control Device
Inventorship Tetsuya Akagi, Kyoto (JP)
Minoru Hashimoto, Ritto (JP)
Ryuichi Jimbo, Kusatsu (JP)
Assignee OMRON Corporation, Kyoto (JP)

Claim of US Patent No. 10,921,800

1. A motor control device for driving a motor having an encoder that detects an operation of the motor, the motor control device comprising a hardware servo driver configured as:a motor control unit that generates a command value regarding the operation of the motor according to a predetermined feedback scheme so that the operation of the motor follows an operation command signal for driving the motor on the basis of the operation command signal and a feedback signal from the encoder corresponding to the operation of the motor;
a drive unit that supplies a drive current for driving the motor to the motor according to the command value from the motor control unit;
an interrupt unit that interrupts transfer of a drive signal from the motor control unit to the drive unit according to the command value; and
a safety control unit that executes an interrupting process of the drive signal via the interrupt unit when a determination is made that a failure has occurred in driving of the motor,
wherein the safety control unit executes the interrupting process of the drive signal in the interrupt unit on the basis of a result of comparing a predetermined feedback value that is calculated according to the feedback signal from the encoder with a state calculation value regarding an operation state of the motor that is calculated according to a calculation model on the basis of the operation command signal and is comparable with the predetermined feedback value,
wherein the encoder is configured to generate two independent feedback signals in response to the operation of the motor, and
the safety control unit compares each of the two predetermined feedback values calculated from the two feedback signals with the state calculation value and compares the two predetermined feedback values to execute the interrupting process of the drive signal in the interrupting process.