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:
Apr. 03, 2001
Filed:
Oct. 05, 1998
Shunsuke Matsubara, Minamitsuru-gun, JP;
Yasusuke Iwashita, Oshino-mura, JP;
Hidekatsu Hamatani, Oshino-mura, JP;
Fanuc Limited, Yamanashi, JP;
Abstract
A torque command Tc is restricted to a torque limit value Tm′ by torque limiting means and delivered to current restricting means for a motor. The torque limit value Tm′ is derived by adding a torque limit correction value &Dgr;Tm as calculated by torque limit correction value calculating means to a torque limit value Tm corresponding to the target pressing force F. The torque limit correction value &Dgr;Tm is supplied in accordance with the acceleration value when the motor is accelerated or decelerated. This acceleration is calculated from the feedback velocity Vf from the velocity detector, or the command velocity Vc. Alternatively, it may be derived from the output of an observer which inputs the torque command Tc′ supplied to the current control means of the motor, and the feedback velocity Vf.