An angular transmission error identification system that identifies an angular transmission error of a speed reducer of a robot arm including a joint that is rotationally driven by a motor via the speed reducer, including an identification unit that calculates amplitude and phase parameters of an angular transmission error identification function, which is a periodic function that models an angular transmission error of the speed reducer and has the parameters, and identifies the error using the function, wherein the unit calculates an amplitude parameter corresponding to a gravitational torque current value which is a value acting on a joint when the error is identified using a first or second amplitude function according to a value of the gravitational torque current value, and calculates a phase parameter corresponding to the gravitational torque current value using a first or second phase function according to a value of the gravitational torque current value.

An object is to provide a numerical control system of a machine tool which can check a parameter that needs to be adjusted for each of a spindle and a motor. A numerical control system of a machine tool includes a parameter check function unit for checking a drive control parameter of a spindle, and the parameter check function unit includes: an acceleration/deceleration time measurement unit which measures an acceleration/deceleration time that elapses after the spindle receives an acceleration command and/or a deceleration command until the completion of acceleration and/or the completion of deceleration; an acceleration/deceleration time specified value storage unit which stores a specified value of the acceleration/deceleration time that is previously determined for each specification of the machine tool; and a determination unit which compares the acceleration/deceleration time measured with the acceleration/deceleration time measurement unit and the specified value stored in the acceleration/deceleration time specified value storage unit so as to determine whether or not the drive control parameter of the spindle is proper.

An electric motor control device includes a position controller, a command acceleration calculator, a first subtractor, and a second subtractor. The position controller receives a position command signal specifying a target position of the load and an electric motor position signal representing a position of the electric motor that drives the load, and outputs a torque command signal. The command acceleration calculator receives the position command signal and outputs a command acceleration signal representing acceleration of the position command signal. The first subtractor subtracts the command acceleration signal from a load acceleration signal representing acceleration of the load and outputs a load acceleration correction signal. The second subtractor subtracts from the torque command signal a value obtained by multiplying the load acceleration correction signal by a predetermined weighting coefficient and outputs a torque command correction signal. The torque command correction signal controls a current supplied to a stator winding wire of the electric motor.

Provided is a numerical control system of an industrial machine that makes it possible to eliminate overshoot occurred at the time of stopping, thereby preventing interference of the machine, for example, in a case in which the torque of a motor such as a servomotor used in a feed axis of a machine tool is limited by a command unit of a CNC. A numerical control system of an industrial machine includes a command unit and a control unit configured to control driving of a motor of the industrial machine in accordance with a command from the command unit, and to perform position control by receiving a command of an end point position from the command unit or without receiving a command of the end point position from the command unit, and the control unit includes an in-deceleration torque limit release unit that, in a case of performing torque limitation of the motor, releases the torque limitation only during deceleration.

An industrial machinery includes: a drive mechanism driving a control target that moves work or a tool; a motor; a first sensor detecting a position of the control target; a second sensor detecting a position of the motor; a current controller controlling a supply current to the motor; a servo controller outputting a torque instruction to the current controller; and a numerical controller calculating a processing force of the control target to the work based on position information on the control target acquired from the first sensor, position information on the motor acquired from the second sensor, and the torque instruction, the numerical controller determining that the tool is in failure if an absolute value of a first component of the processing force becomes equal to or larger than a first threshold value while processing the work, the first component having a frequency lower than a predetermined frequency.

A motor driving apparatus comprises a motor including a rotor that is rotatable and has a magnet whose outer peripheral surface divided in a circumferential direction is magnetized in multiple poles with alternating different polarities, and a position detecting unit having a first detecting element, a second detecting element, a third detecting element and a fourth detecting element, each of which detects a magnet pole, a driving unit that drives the motor on the basis of signals output from the first to fourth detecting elements, and a controlling unit that obtains a rotational quantity of the motor on the basis of signals output from the first and second detecting elements and that outputs a control signal of the motor to the driving unit on the basis of the rotational quantity of the motor.

An industrial machinery includes: a drive mechanism driving a control target that moves work or a tool; a motor; a first sensor detecting a position of the control target; a second sensor detecting a position of the motor; a current controller controlling a supply current to the motor; a servo controller outputting a torque instruction to the current controller; and a numerical controller calculating a processing force of the control target to the work based on position information on the control target acquired from the first sensor, position information on the motor acquired from the second sensor, and the torque instruction, the numerical controller determining that the tool is in failure if an absolute value of a first component of the processing force becomes equal to or larger than a first threshold value while processing the work, the first component having a frequency lower than a predetermined frequency.

A gimbal control method includes obtaining a working parameter of a gimbal, where the gimbal includes an axial arm and a motor configured to drive the axial arm to rotate to drive a photographing device mounted on the gimbal to move in one or more directions; detecting that the working parameter matches a preset condition that a human force is applied to gimbal; and according to a direction of the human force applied to the gimbal, controlling the motor to drive the axial arm to rotate to a target attitude at which the human force stops to be applied to the gimbal.

A gimbal control method includes obtaining a measured working parameter of a gimbal, where the gimbal includes an axial arm and a motor configured to drive the axial arm to rotate. The method further includes in response to the measured working parameter satisfying a preset condition: determining that an external force is applied to the gimbal, the external force being not applied by a controller; and stopping the gimbal to operate based on a first working parameter, the first working parameter being obtained when the gimbal is controlled by the controller without applying the external force.

A motor control system includes a motor, a main controller configured to receive a first user program from a user device, and a motor controller configured to store the first user program transferred from the main controller such that the first user program is not readable from outside of the motor control system.