Patent ID: 7800329

Claim:
A motor control device, comprising: a position control unit for generating a velocity instruction based on a position instruction and a motor position; a velocity control unit for generating a torque instruction based on the velocity instruction and a motor velocity; and a motor drive unit for generating motor current based on the torque instruction, wherein the motor control device further comprises a model control unit for generating a model torque instruction based on the velocity instruction and a model velocity, an inertia identification unit for identifying inertia from a predetermined position instruction according to a ratio of a motor torque instruction integrated value obtained by temporal integration of the torque instruction of the motor at a predetermined section and a model torque instruction integrated value obtained by temporal integration of the model torque instruction at a predetermined section, and an instruction shape generation unit for automatically generating an instruction shape upon identification according to conditions of a maximum movable distance, a permitted velocity, a permitted acceleration, and a maximum operation time of an object machine.