Patent ID: 9116527
Filing Date: 2015-08-25
Classification: G05B,G05D

Abstract:
1. A motor control system comprising a plurality of control apparatuses for controlling a motor, and a host control apparatus which provides a command to said control apparatus, wherein each of said control apparatuses include: a position control unit which controls position based on a position command and commanded speed provided from said host control apparatus; a speed control unit which controls speed based on a speed command supplied from said position control unit; a current control unit which controls current based on a current command supplied from said speed control unit; and a current amplifier which amplifies current for driving said motor, based on a voltage command supplied from said current control unit, and wherein said current control unit includes: a voltage saturation processing unit which determines whether said voltage command has exceeded supply voltage of said current amplifier, and which outputs a result of said determination; and a voltage saturation notifying unit which notifies said host control apparatus of the result of said determination made by said voltage saturation processing unit.