Method of detecting an abnormal load on a servomotor and control

Details Method of detecting an abnormal load on a servomotor and control Method of detecting an abnormal load on a servomotor and control

1996-12-12

2000-05-02

Sircus, Brian

Electricity: motive power systems

Positional servo systems

With protective or reliability increasing features

318566, 31856824, 318603, 318280, 318469, G05B 902, G05B 1929

Patent

active

060576618

ABSTRACT:
A method of detecting an abnormal load and controlling a servomotor in such an abnormal condition. The servomotor is controlled so that a load will not continuously act on a machine after the abnormal load is detected. When a load torque, detected by an observer, exceeds a reference value, a flag F1 is set to "1". In the next processing cycle, the flag F1 is "1" and a flag F2 is "0", so that a positional deviation A, having a direction opposite to the driving direction, is set in the error register, and the flag F2 is set to "1". In the succeeding processing cycles, a position feedback amount .theta. is subtracted from the error register to obtain a positional deviation, and the obtained positional deviation is used to execute a position and speed loop processing. The servomotor rotates in the opposite direction until the positional deviation A is reduced to "0" before it stops.

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