US Patent No. 9,377,773

MOTOR CONTROLLER FOR PERFORMING CORRECTION WHEN DIRECTION OF ROTATION IS REVERSED


Patent No. 9,377,773
Issue Date June 28, 2016
Title Motor Controller For Performing Correction When Direction Of Rotation Is Reversed
Inventorship Shoutarou Hashimoto, Yamanashi (JP)
Tadashi Okita, Yamanashi (JP)
Assignee FANUC CORPORATION, Yamanashi (JP)

Claim of US Patent No. 9,377,773

1. A motor controller for controlling a motor which drives a driven body, comprising:
a first displacement detector configured to detect an amount of displacement of the driven body;
a second displacement detector configured to detect an amount of displacement of the motor;
a correction part configured to add an amount of correction to a speed command or a torque command to the motor when a movement
direction of the driven body is reversed;

a judgment part configured to judge whether or not the amount of displacement of the driven body after the movement direction
of the driven body is reversed, exceeds a first threshold value, and whether or not the amount of displacement of the motor
after the movement direction of the motor is reversed, exceeds a second threshold value; and

a correction terminating part configured to terminate a correction of the speed command or the torque command by the correction
part when the amount of displacement of the driven body exceeds the first threshold value or when the amount of displacement
of the motor exceeds the second threshold value.