Patent ID: 9461569
Filing Date: 2016-10-04
CPC Classification: B25J,H02P

Claim Text:
1. A motor control method of controlling the rotation of a rotating shaft of a motor, comprising: setting a target rotational speed which is a target value of a rotational speed at which the rotating shaft rotates and a torque limit value which indicates the maximum value of a torque to be applied to the rotating shaft; detecting the rotational speed to output a torque instruction signal corresponding to a difference between the rotational speed and the target rotational speed; subtracting an excess torque signal, which is a signal indicating a magnitude by which the torque applied to the rotating shaft by the torque instruction signal is larger than the torque limit value, from the torque instruction signal; changing the torque limit value when the rotational speed of the rotating shaft is lower than a speed determination value; and driving the motor with a torque of the torque instruction signal.