Motor control apparatus and motor control method
First Claim
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1. A motor control apparatus comprising:
- a driving control unit configured to control at least one of a rotating position and a rotating speed of a motor in accordance with a drive command based on an encoded signal, the encoded signal changing periodically in accordance with the rotating position of the motor;
an interrupt control unit configured to start and execute interrupt processing for performing the driving control at an interrupt cycle;
a first processing unit configured to execute first processing that detects the rotating position of the motor based on the encoded signal; and
a second processing unit configured to select and execute second processing that outputs the drive command of the motor in accordance with the rotating position of the motor detected by the first processing unit, whereinthe interrupt control unit is configured to execute the first processing before executing the second processing in the interrupt processing.
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Abstract
A motor control apparatus includes: a driving control unit that performs driving control of a motor in accordance with a drive command; an interrupt control unit that starts and executes interrupt processing for performing the driving control at an interrupt cycle; a first processing unit that executes same first processing every time the interrupt processing starts; and a second processing unit that selects and executes a different piece of processing from second processing every time the interrupt processing starts. The interrupt control unit executes at least one piece of the first processing before executing the second processing in the interrupt processing.
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Citations
17 Claims
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1. A motor control apparatus comprising:
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a driving control unit configured to control at least one of a rotating position and a rotating speed of a motor in accordance with a drive command based on an encoded signal, the encoded signal changing periodically in accordance with the rotating position of the motor; an interrupt control unit configured to start and execute interrupt processing for performing the driving control at an interrupt cycle; a first processing unit configured to execute first processing that detects the rotating position of the motor based on the encoded signal; and a second processing unit configured to select and execute second processing that outputs the drive command of the motor in accordance with the rotating position of the motor detected by the first processing unit, wherein the interrupt control unit is configured to execute the first processing before executing the second processing in the interrupt processing. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A motor control method comprising:
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controlling at least one of a rotating position and a rotating speed of a motor in accordance with a drive command based on an encoded signal, the encoded signal changing periodically in accordance with the rotating position of the motor; starting and executing interrupt processing for performing the driving control at an interrupt cycle; executing first processing that detects the rotating position of the motor based on the encoded signal; and selecting and executing second processing that outputs the drive command of the motor in accordance with the rotating position of the motor detected by the first processing unit, wherein at the starting and executing of the interrupt processing, the first processing is executed before executing the second processing in the interrupt processing. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A non-transitory computer-readable storage medium in which computer-readable program codes are stored, wherein the program codes when executed cause a computer to execute:
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controlling at least one of a rotating position and a rotating speed performing driving control of a motor in accordance with a drive command based on an encoded signal, the encoded signal changing periodically in accordance with the rotating position of the motor; starting and executing interrupt processing for performing the driving control at an interrupt cycle; executing first processing that detects the rotating position of the motor based on the encoded signal; and selecting and executing second processing that outputs the drive command of the motor in accordance with the rotating position of the motor detected by the first processing unit, wherein at the starting and executing of the interrupt processing, the first processing is executed before executing the second processing in the interrupt processing.
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Specification