A rotation control unit performs a rotation process of rotating a servomotor which is connected to a device via a power transmission means. A waveform-data acquisition unit performs a waveform-data acquisition process of acquiring waveform data when the servomotor is rotated. A determination unit performs a determination process of determining whether or not rotation has been transmitted to the device when the servomotor is rotated, based on the waveform data. A calculation unit ends a repetition process of repeating a search process, the search process being constituted by the rotation process, the waveform-data acquisition process, and the determination process, when it is determined that the rotation has been transmitted to the device, and calculates as a backlash amount, a sum of a rotation amount in the repetition process, the rotation amount being an amount by which the rotation control unit has rotated the servomotor in the rotation process.

A feedforward control method comprising steps of: acquiring kinematic parameters of each joint of a robot based on inverse kinematics according to a pre-planned robot motion trajectory, and setting a center of a body of the robot as a floating base; determining a six-dimensional acceleration of a center of mass of each joint of the robot in a base coordinate system using a forward kinematics algorithm, based on the kinematic parameters of each joint of the robot, and converting the six-dimensional acceleration of the center of mass of each joint of the robot in the base coordinate system to a six-dimensional acceleration in a world coordinate system; and calculating a torque required by a motor of each joint of the robot using an inverse dynamic algorithm, and controlling the motors of corresponding joints of the robot.

A servo actuator controlling system includes a master controller and a number of servo actuators coupled to at least one interface of the master controller. The master controller includes a master MCU and a number of interfaces connected to the master MCU via a first bus. Each servo actuator includes a servo MCU, a first interface coupled to the servo MCU via a second bus, a second interface coupled the first Interface and the serve MCU, a first servo switch connected between the first interface and the servo MCU, and a second servo switch connected between the second interface and the servo MCU. The first servo switch is set to turn on or off the first interface and the second servo switch is set to turn on or off the second interface.

A method for servo locking control is provided. A servo enters a first lock state, and determines whether the current angular deflection values of the servo in a first preset period are all greater than a preset angular deflection value. When the current angular deflection values of the servo in the first preset period are all greater than the preset angular deflection value, the servo enters a second lock state, and determines whether the current angular changing values of the servo in a second preset period are all less than a preset angular changing value. When the current angular changing values of the servo in the second preset period are all less than the preset angular changing value, the servo enters the first lock state. A servo for performing the method for servo locking control is also provided.

A tandem control system for a machine tool, according to the present invention, comprises: a numerical control unit; a main operation unit; a PLC which executes a control command via communication with the numerical control unit or the main operation unit; a servo drive which includes a notch filter unit and executes the control command from the PLC; a servo motor unit which is driven under the control of the servo drive; and a power conversion unit which is electrically connected to the servo motor unit and the servo drive so as to apply current to the servo motor unit, wherein the servo drive suppresses resonance due to the operation of the servo motor unit by controlling the application state of current transferred to the power conversion unit according to changes of notch &; filter coefficients calculated in real time at the notch filter unit.

A health monitor circuit for an electric machine is described. The health monitor circuit includes at least one sensor configured to measure a parameter of the electric machine, a communication interface, and a microprocessor coupled to the at least one sensor, the communication interface, and a memory. The microprocessor is configured to periodically collect time samples of the parameter measured by the at least one sensor, transmit factors of the time samples to the memory, and perform a high resolution fast-Fourier transform (FFT) on the factors. The microprocessor is also configured to extrapolate results of the high resolution FFT to a produce a high resolution frequency domain waveform, filter the high resolution frequency domain waveform by a parameter, and transmit, via the communication interface, the filtered frequency domain waveform to a remote system for further processing.

The numerical controller of the invention receives input of a technique for operating a plurality of tools and an operation condition of the operation technique, calculates movement command data including speed information and position information on the plurality of tools, such that respective cutting paths of the plurality of tools intersect, based on the input operation method and operation condition, generates interpolation data based on the movement command data, and controls a motor for driving a machine based on the interpolation data.

A servo motor controller is provided which enables an offset to be set more easily and accurately, in comparison to the conventional technique. A servo motor controller for controlling a servo motor of an industrial machine includes: a position detection unit that detects a position of the servo motor; a magnetic-pole detection unit that detects a magnetic-pole phase of the servo motor; and a phase calculation unit that determines a calculation-based phase based on position data of the servo motor and magnetic-pole gap information of the servo motor. The servo motor controller is configured to acquire an offset relationship between the magnetic-pole phase detected by the magnetic-pole detection unit and the calculation-based phase determined by the phase calculation unit, after a reference position is passed through.

A method for controlling a servomotor with a converter includes monitoring a circuit of a direct-voltage DC link that is connected to an input circuit for flow of an electric current; switching off a first switching device to end the supply of the direct-voltage DC link from an electrical grid if a stop signal occurs; braking the servomotor by control of power semiconductor switches of an inverter circuit in a regenerative braking operation, to reduce the rotation speed of the servomotor, if the monitoring detects that an electric current is not flowing after the first switching device has been switched off; and switching off a second switching device to prevent feeding electrical energy from the direct-voltage DC link into the servomotor if the monitoring detects a flow of electric current after the first switching device has been switched off.

A device comprising at least one electromechanical system and an electronic control unit comprising both a servo control loop connecting together the input and the output of the electromechanical system, and also a digital corrector. The device includes a software module having an input and an output connected respectively to the output and to the input of the electromechanical system. For each frequency of a set of frequencies that are to be analyzed, the software module is programmed: to issue a sinusoidal excitation signal on its output and to recover a response signal on its input; to model the response signal by means of a Fresnel representation and to filter it about the excitation frequency by means of at least one Kalman filter in order to obtain a state vector of the filtered response signal; and to obtain at least one transfer function for the system from the model, from the excitation signal, and from the input signal.