Servo controller
First Claim
1. A servo controller for driving a servo motor on the basis of command positions input by a master control unit, comprising:
- learning control means for creating correction data on the basis of a positional deviation in a same command pattern, storing said data in a memory, and correcting positional deviation;
wherein said learning control means creates correction data on the basis of the positional deviation, and corrects the positional deviation, during the period from a learning control start command to a learning control end command.
1 Assignment
0 Petitions
Accused Products
Abstract
A switch is turned on by a learning control start command from a master control unit, and the positional deviation at respective cycles is read in. Correction data read out from a learning memory is added to the positional deviation, and the result is filtered by band limiting filter and then stored in the learning memory as correction data. The correction data read out from the memory is compensated for phase delay, fall in gain, and the like, by a dynamics compensating element, and is added to the positional deviation and input to a positional control section. When the command pattern for the same shape is completed, and a learning control end command is output, whereupon the switch is turned off and learning control terminates.
-
Citations
16 Claims
-
1. A servo controller for driving a servo motor on the basis of command positions input by a master control unit, comprising:
-
learning control means for creating correction data on the basis of a positional deviation in a same command pattern, storing said data in a memory, and correcting positional deviation;
wherein said learning control means creates correction data on the basis of the positional deviation, and corrects the positional deviation, during the period from a learning control start command to a learning control end command. - View Dependent Claims (3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
-
-
2. A servo controller for driving a servo motor on the basis of commands input by a master control unit, comprising:
-
learning control means which has a memory for storing correction data determined on the basis of a positional deviation between a command position input from the master control unit and a detected position of a drive object driven by the servo motor, and performs learning control by correcting the positional deviation on the basis of the correction data stored in said memory;
wherein said learning control means judges a learning control start command and a learning control end command input by the master control unit, and stores in said memory said correction data for each prescribed cycle in the driving operation of said servo motor during the period from said learning control start command to said learning control end command, and performs learning control of the drive of said servo motor in the period from said learning control start command until said learning control end command, on the basis of positional commands input from said master control unit and the correction data for each of said prescribed cycles stored in said memory.
-
Specification