Patent ID: 8547047
Filing Date: 2013-10-01
Classification: H02P

Abstract:
1. A method for monitoring operation of a movement-controlled manipulator in which movements of the manipulator are implemented by an electronically commutated drive motor having a stator comprising a stator winding arrangement that generates a commutated magnetic field, and a rotor that is caused to rotate by said commutated magnetic field interacting with a rotor field of said rotor, said commutated magnetic field exhibiting a commutation angle with respect to said rotor field, said method comprising the steps of: detecting a real position of said commutation angle in said drive motor; in servo-electronics, automatically generating a control signal that regulates said detected real position with respect to a control variable; in said servo-electronics, automatically determining a rate of change of said real position of said drive motor and, from said rate of change of said real position of said drive motor, automatically determining a rate of change of said commutation angle and generating said control signal to limit said rate of change of said commutation angle from exceeding a limit value; and supplying said control signal to said drive motor from said servo-electronics.