The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Feb. 26, 2019
Filed:
May. 23, 2017
Fanuc Corporation, Yamanashi, JP;
Tsutomu Nakamura, Yamanashi, JP;
Satoshi Ikai, Yamanashi, JP;
FANUC CORPORATION, Yamanashi, JP;
Abstract
A motor control device includes: a force command unit that designates a force to be applied to a workpiece to be machined by a machining device having a motor as a driving source; a force detecting unit that detects the force applied to the workpiece; a velocity-command calculating unit that calculates a velocity command based on the designated force and the detected force; a torque-command calculating unit that calculates a torque command based on the velocity command and the velocity of the motor; a motor control unit that controls the motor based on the torque command; a determining unit that determines the machining stage of the workpiece based on the detected force; and a gain changing unit that changes at least one of gains individually provided in the velocity-command calculating unit and the torque-command calculating unit in accordance with the determined machining stage.