Motor control device
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United States of America Patent
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Aug 23, 2016
Grant Date -
Mar 5, 2015
app pub date -
Feb 25, 2013
filing date -
Mar 1, 2012
priority date (Note) -
In Force
status (Latency Note)
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Abstract
A command value generating circuit determines an acceleration profile indicating changes in acceleration of a mechanical load over time. The acceleration profile is determined such that the mechanical load is accelerated from a stop at a first position to a peak velocity, and is decelerated from the peak velocity to stop at a second position, and that the absolute value of an acceleration during accelerating and decelerating the mechanical load is equal to or less than an upper limit acceleration, and that the acceleration is maintained at the upper limit acceleration for a period of time from starting to accelerate the mechanical load, and then, gradually decreased from the upper limit acceleration. The command value generating circuit determines a velocity profile indicating changes in the velocity of the mechanical load over time, according to the acceleration profile, and generates a position command value, according to the velocity profile.
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