US Patent No. 9,188,966

HOST CONTROLLER GENERATING POSITION CONTROL GAIN


Patent No. 9,188,966
Issue Date November 17, 2015
Title Host Controller Generating Position Control Gain
Inventorship Noboru Hirose, Yamanashi (JP)
Assignee FANUC CORPORATION, Yamanashi (JP)

Claim of US Patent No. 9,188,966

1. A host controller outputting a position command value relating to a position of a motor to a motor controller controlling
the motor in order to control the motor controller, the host controller comprising:
a reference value generating unit analyzing data in a program that concerns a first speed command value relating to a speed
of the motor taken when an override value is 1 to generate a reference value that is equal to the first speed command value
or a second speed command value set based on the first speed command value;

a speed command value generating unit obtaining the first speed command value and a set override value and generating, based
on the first speed command value and the set override value, a third speed command value relating to a speed of the motor
when the override value is the set value; and

a position control gain generating unit taking an input of the reference value from the reference value generating unit and
an input of the third speed command value from the speed command value generating unit, obtaining a gain-related value relating
to a gain set in accordance with a driven object driven by the motor, generating, based on a ratio of the third speed command
value to the reference value and the gain-related value, a position control gain used by the motor controller for generating
the third speed command value, and outputting the generated position control gain.