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Method of detecting an abnormal load on a servomotor and controlling the same in such an abnormal condition

  • US 6,057,661 A
  • Filed: 12/12/1996
  • Issued: 05/02/2000
  • Est. Priority Date: 02/10/1993
  • Status: Expired due to Fees
First Claim
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1. A method of detecting an abnormal load on a servomotor driving a machine and controlling the servomotor in such an abnormal condition, comprising the steps of:

  • (a) rotating a servomotor in a first direction to drive a machine tool;

    (b) detecting an abnormal load acting on the servomotor during a driver operation and due to a large torque developed by the rotation of said servomotor in said first direction when an obstacle collides with said machine tool causing an elastic deformation on said machine tool;

    (c) executing a position loop processing using an error register for storing a positional deviation value;

    (d) setting a predetermined positional deviation having a direction opposite to said first direction in said error register when said abnormal load is detected; and

    (e) rotating the servomotor in the direction opposite to the first direction by a predetermined rotational amount corresponding to said predetermined positional deviation and then stopping the servomotor, to release said elastic deformation of said machine tool.

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