US 11,914,343 B2
Command generation device and command generation method to control motor
Kenichi Hirose, Kitakyushu (JP); Yasuhiro Suzuki, Kitakyushu (JP); Atsuro Tandai, Kitakyushu (JP); and Kenshiro Yokoi, Kitakyushu (JP)
Assigned to KABUSHIKI KAISHA YASKAWA DENKI, Kitakyushu (JP)
Filed by KABUSHIKI KAISHA YASKAWA DENKI, Kitakyushu (JP)
Filed on Jun. 3, 2021, as Appl. No. 17/337,424.
Claims priority of application No. 2020-109668 (JP), filed on Jun. 25, 2020.
Prior Publication US 2021/0405614 A1, Dec. 30, 2021
Int. Cl. G05B 19/18 (2006.01); G05B 19/4103 (2006.01); G05B 19/25 (2006.01); G05B 19/414 (2006.01); G05D 13/62 (2006.01)
CPC G05B 19/4103 (2013.01) [G05B 19/253 (2013.01); G05B 19/4141 (2013.01); G05D 13/62 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A command generation device to control a motor, comprising:
command input circuitry configured to receive a first command;
first intermediate data calculation circuitry configured to calculate first intermediate data based on the first command;
delay time setting circuitry configured to determine a delay time based on the first command, a first time period during which positioning the motor based on the first command is completed when the first intermediate data is smoothed being longer by the delay time than a second time period during which positioning the motor based on the first command is completed when the first intermediate data is not smoothed;
second intermediate data calculation circuitry configured to calculate second intermediate data by smoothing the first intermediate data based on the delay time; and
command output circuitry configured to calculate, based on the second intermediate data, a second command according to which the motor is controlled.