Motor amplifier and angle adjustment method

Abstract

To provide a motor amplifier that suppresses motor vibration and noise.SOLUTION: A motor amplifier 1 is connected to a host device 2 that sends a position command and an encoder 3 that acquires the rotation position of a motor 4. A filter setting unit 100 sets a filter that adjusts the rotation position of the motor 4 according to a ratio between the acquisition cycle of the position command acquired from the host device 2 and the control cycle of the rotation position of the motor 4. When the filter is set by the filter setting unit 100, an angle adjusting unit 110 calculates angle information corresponding to the filter from the position command, and controls the rotation position of the motor 4 on the basis of the calculated angle information.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention particularly relates to a motor amplifier that is connected to a higher-level device such as a PLC via a field network and controlled by absolute position commands, and to an angle adjustment method. [Background technology]

[0002] Conventionally, there exist a host device such as a PLC (Programmable Logic Controller) that transmits a position command, an encoder that acquires the rotational position of a motor, and a motor amplifier connected to this encoder. For example, Patent Document 1 describes a control device equivalent to a motor amplifier that acquires position data output from an encoder and controls the rotation of a motor based on the position data (see, for example, paragraph

[0022] of the patent document). This control device controls the rotation of the motor by controlling the current or voltage applied to the motor based on the position data. Furthermore, it is described that the control device is also capable of acquiring a higher-level control signal from a higher-level device and controlling the motor so that a rotational force capable of realizing the position, etc. represented by the higher-level control signal is output from the motor shaft.

[0003] In recent years, field networks for FA (Factory Automation) control, such as EtherCAT, have come to be used. When a position command is transmitted by connecting a host device and a motor amplifier via EtherCAT or the like, an absolute position command value is transmitted at a cycle of, for example, 1 millisecond (ms). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2014-013163 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, when a conventional motor amplifier such as that described in Patent Document 1 is connected via EtherCAT or the like, if the period of the position command is longer than the control period of the motor amplifier, the angle information transmitted from the motor amplifier may continue to have the same value, and then the information may be suddenly changed. This may cause the motor to vibrate and generate noise.

[0006] The present invention has been made in view of the above circumstances, and has an object to provide a motor amplifier that suppresses vibration and noise of a motor and to solve the above-mentioned problems. [Means for solving the problem]

[0007] The motor amplifier of the present invention is connected to a host device that transmits a position command and controls the rotation of a motor, and includes a filter setting unit that sets a filter to adjust the rotational position of the motor in accordance with a ratio between an acquisition period of a position command acquired from the host device and a control period of the rotational position of the motor, and an angle adjustment unit that, when the filter is set by the filter setting unit, calculates angle information corresponding to the filter from the position command and controls the rotational position of the motor using the calculated angle information, the filter being an average moving average filter, and the filter setting unit converts the torque of the motor to , Mo Detect abnormal noise and vibration during operation of the computer and set the appropriate moving average The The method is characterized in that the number of data points is calculated, and when a vibration value, which is the absolute value of the change in torque within a specified period, exceeds a specific threshold, it is determined that the abnormal noise and vibration noise have occurred, the moving average filter is set, and the number of taps of the moving average filter is started from 1, and this number of taps is increased until a value at which the vibration value is minimized is set. With this configuration, it is possible to mitigate sudden increases and decreases in the position command value and suppress noise and vibration of the motor.

[0008] The motor amplifier of the present invention is ,beforeThe angle adjustment unit calculates the angle information by a moving average based on the most recently acquired value of the position command and a previously acquired value of the position command. With this configuration, the rotational position of the motor can be appropriately controlled.

[0009] The motor amplifier of the present invention is characterized in that the angle adjustment unit calculates the number of sampling data for calculating the average of the moving average from the acquisition period of the position command and the control period of the rotational position. With this configuration, it is possible to automatically set the optimal number of taps of the moving average filter according to the communication cycle.

[0010] The motor amplifier of the present invention is When the filter setting unit receives the position command from the upper device, the filter setting unit calculates and sets the number of taps of the moving average filter based on the period of the previously received position command. It is characterized by: By configuring it this way, Even if the period of the position command becomes unstable due to the processing of the upper device 2, the state of the field network, noise, etc., an appropriate number of taps can be set. It is possible.

[0011] The angle adjustment method of the present invention is an angle adjustment method that is executed by a motor amplifier that is connected to a host device that transmits a position command and controls the rotation of a motor, and that sets a filter that adjusts the rotational position of the motor according to a difference between an acquisition period of a position command acquired from the host device and a control period of a rotational position of the motor, and when the filter is set, calculates angle information corresponding to the filter from the position command, and controls the rotational position of the motor based on the calculated angle information, and the filter is an average moving average filter, and converts the torque of the motor to , Mo Detect abnormal noise and vibration during operation of the computer and set the appropriate moving average The The method is characterized in that the number of data points is calculated, and when a vibration value, which is the absolute value of the change in torque within a specified period, exceeds a specific threshold, it is determined that the abnormal noise and vibration noise have occurred, the moving average filter is set, and the number of taps of the moving average filter is started from 1, and this number of taps is increased until a value at which the vibration value is minimized is set. With this configuration, it is possible to mitigate sudden increases and decreases in the position command value and suppress noise and vibration of the motor. Effect of the Invention

[0012] According to the present invention, a motor amplifier can be provided that adjusts the angle information to be sent to the encoder in accordance with the difference between the acquisition period of the position command and the control period of the encoder's rotational position, and transmits the adjusted angle information to the encoder, thereby preventing the same value from being repeatedly changed suddenly, thereby suppressing motor vibration and noise. [Brief description of the drawings]

[0013] [Figure 1] 1 is a system configuration diagram of a control system according to an embodiment of the present invention. [Diagram 2] 4 is a flowchart of a rotational position control process according to the embodiment of the present invention. [Diagram 3] FIG. 3 is a conceptual diagram of the control process shown in FIG. 2. [Figure 4] 1 is a conceptual diagram of conventional angle information and angle information of the present invention; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] <Embodiment> [Configuration of control system X] The configuration of a control system X according to an embodiment of the present invention will be described with reference to FIG. The control system X includes a motor amplifier 1, a higher-level device 2, an encoder 3, and a motor 4.

[0015] The motor amplifier 1 is a control device connected to a higher-level device 2 and an encoder 3. In this embodiment, the motor amplifier 1, for example, acquires a position command transmitted from the higher-level device 2, and further acquires angle information from the encoder 3, and drives and controls the motor 4 based on these. In this embodiment, the position command and angle information are absolute values ​​indicating the rotational position of the shaft S of the motor 4 according to the accuracy of the encoder 3, such as 17 bits to 32 bits.

[0016] The motor amplifier 1 and the higher-level device 2 are connected by a field network such as EtherCAT. On the other hand, the motor amplifier 1 and the encoder 3 are connected by a dedicated line or a serial communication line, for example, and power for servo-driving the motor 4 is also supplied. This power is supplied to the motor 4 via the encoder 3 or directly. In addition, the motor amplifier 1 may be capable of responding to a data request from the higher-level device 2. Alternatively, the motor amplifier 1 may be capable of converting torque using a current feedback value of the motor control of the motor 4. In addition, the motor amplifier 1 may be capable of acquiring state information such as temperature from the encoder 3. The detailed configuration of the motor amplifier 1 will be described later.

[0017] The higher-level device 2 is a device for a client (customer) that transmits a position command. The higher-level device 2 is, for example, a PLC or a logic board of various devices equipped with a microcontroller. The higher-level device 2 transmits a control signal for controlling the motor 4 as a position command to the motor amplifier 1. The period for transmitting this position command is arbitrary (variable) depending on the configuration of the field network and the configuration of the higher-level device 2. Furthermore, the higher-level device 2 can also obtain the detected position data of the motor 4 and other data from the motor amplifier 1.

[0018] The encoder 3 is a device that acquires the rotational position of the motor. In this embodiment, the encoder 3 detects position data of the rotational position of the motor 4 and transmits it to the motor amplifier 1 as angle information. For this reason, the encoder 3 includes, for example, a magnetic or optical angle detection mechanism, a control calculation means such as an MPU (Micro Processing Unit, microcontroller), a DSP (Digital Signal Processor), or an ASIC (Application Specific Integrated Circuit), and a non-transitory recording medium such as a RAM (Random Access Memory) that holds angle information and temporary data, and a ROM (Read Only Memory) that records a control program.

[0019] The encoder 3 also includes a temperature sensor for measuring the temperatures of the motor 4 and the encoder 3 itself. The encoder 3 may also include a built-in backup battery (not shown) for data, and may be capable of continuing to store position data in a built-in storage medium when the shaft is driven by an external force or the like. Further, the encoder 3 may be capable of transmitting signals from the temperature sensor, the battery voltage sensor, and the like as different types of data separate from the position data.

[0020] In response to a control signal from the motor amplifier 1, the motor 4 rotates a shaft S, which is a rotary output shaft, about a rotary axis A as a central axis. The motor 4 is a typical servo motor or the like that includes a rotor, bearings, a stator, a bracket, and the like.

[0021] [Motor amplifier 1 configuration] To explain in more detail, in this embodiment, the motor amplifier 1 includes a communication control unit 10 and an amplifier control unit 20.

[0022] The communication control unit 10 receives communication on the field network, acquires a position command addressed to the motor amplifier 1 from the higher-level device 2, and transmits it to the amplifier control unit 20. This transmission of the position command may be executed periodically, for example, after absorbing fluctuations (jitter) in the period of acquisition of the position command from the higher-level device 2. In other words, the period of the position command transmitted from the communication control unit 10 corresponds to the period of acquisition of the position command acquired from the higher-level device 2. In addition, the communication control unit 10 is capable of setting a filter, which will be described later. The communication control unit 10 includes, for example, a control and calculation means such as an MPU, a DSP, or an ASIC, a non-transitory recording medium such as a RAM or a ROM, and a circuit (physical layer) for communication in the field network.

[0023] The amplifier control unit 20 calculates angle information based on the position command obtained from the communication control unit 10, and servo-drives the motor 4 to control the position of the shaft S. At this time, the amplifier control unit 20 can also control the motor 4 by referring to the angle information obtained by the encoder 3. Furthermore, the amplifier control unit 20 can also obtain information from various other sensors and transmit it to the communication control unit 10 together with the angle information. The amplifier control unit 20 includes a control and calculation means such as an MPU, a DSP, or an ASIC, and a non-transitory recording medium such as a RAM or a ROM.

[0024] Next, the functional configuration of the motor amplifier 1 will be described. The communication control unit 10 includes a filter setting unit 100 . The amplifier control unit 20 includes an angle adjustment unit 110 .

[0025] The filter setting unit 100 can set a filter that adjusts the rotational position of the motor 4 according to the ratio between the acquisition period of the position command acquired from the higher-level device 2 and the control period of the rotational position of the motor 4. Specifically, this ratio is a specific value, for example, equal to or greater than 1, as the value of (acquisition period of the position command) / (control period of the rotational position). In addition, an example in which a moving average filter is used as the filter of this embodiment will be described. In this case, the filter setting unit 100 calculates the number of sampling data (hereinafter simply referred to as the "tap number") for calculating the moving average from the acquisition period of the position command and the control period of the rotational position, and this can also be set in the angle adjustment unit 110.

[0026] When the filter is set by the filter setting unit 100, the angle adjustment unit 110 calculates (adjusts) angle information corresponding to the filter from the position command, thereby controlling the rotational position of the motor 4. Specifically, the angle adjustment unit 110 calculates angle information for adjusting the rotational position of the motor 4 according to the difference between the acquisition period of the position command acquired from the higher-level device 2 and the control period of the rotational position of the motor 4. More specifically, when a moving average filter is used, the angle adjustment unit 110 calculates the angle information by a moving average based on the value of the most recently acquired position command and the value of the previously acquired position command. In this case, for example, the angle adjustment unit 110 can sample a plurality of position command data for the number of taps for each period of the control period of the rotational position of the motor 4, between the value of the rotational position indicated in the most recently acquired position command and the value of the rotational position indicated in the position command acquired immediately before.

[0027] In addition, the angle adjustment unit 110 can also adjust the actual angle according to the angle information obtained from the encoder 3.

[0028] The angle adjustment unit 110 controls the rotation position of the motor 4 based on the calculated angle information. Specifically, the angle adjustment unit 110 acquires angle information based on the angle information calculated by the angle adjustment unit 110, and while acquiring the angle information from the encoder 3, drives the motor 4 so that the motor 4 reaches the rotation position set by the angle information.

[0029] Here, the communication control unit 10 functions as a filter setting unit 100 by executing a control program stored in a recording medium of the communication control unit 10. Also, the amplifier control unit 20 functions as an angle adjustment unit 110 by executing a control program stored in a recording medium of the amplifier control unit 20. Note that it is also possible to configure some or all of these components as circuits using logic circuits, FPGAs (Field Programmable Gate Arrays), or the like.

[0030] [Rotational Position Control Process] Next, a rotational position control process according to the embodiment of the present invention will be described with reference to FIG. 2 and FIG. In the rotational position control process of this embodiment, it is determined whether or not to set a moving average filter depending on the ratio between the acquisition period of the position command acquired from the higher-level device 2 and the control period of the rotational position of the motor 4. If a moving average filter is set, angle information for adjusting the rotational position of the motor 4 is calculated. Then, the rotational position of the motor is controlled based on the calculated angle information. In the rotational position data transmission process of this embodiment, the communication control unit 10 and the amplifier control unit 20 of the motor amplifier execute a control program (not shown) stored in each storage medium in cooperation with each unit, using hardware resources. The rotational position control process of this embodiment will be described below step by step with reference to the flowchart of FIG.

[0031] (Step S101) First, the filter setting unit 100 performs a position command acquisition process. The angle adjustment unit 110 receives a position command from the higher-level device 2 . 3, in this embodiment, an example will be described in which a position command is acquired from a field network at a period of 1 millisecond (1 ms). In addition, in this example, the control period for servo-driving the motor 4 by the amplifier control unit 20 based on the angle information is 100 microseconds (100 μs).

[0032] (Step S102) Next, the filter setting unit 100 determines whether or not to enable the moving average filter. Here, in this embodiment, the filter setting unit 100 determines Yes when the ratio (proportion) between the acquisition period of the position command and the control period of the rotational position is equal to or greater than a specific value equal to or greater than 1. This specific value may be calculated based on the ratio at which significant vibration or noise occurs in the motor, for example. For example, in FIG. 3, the ratio is 10, and when the ratio becomes significantly larger like this, the result is Yes.

[0033] Alternatively, the filter setting unit 100 may determine that the result is Yes if the acquisition period of the position command is equal to or longer than the first specific time and the control period of the rotation position is equal to or shorter than the second specific time. The first specific time may be, for example, 1 ms as shown in FIG. 3, and the second specific time may be, for example, 100 μs. In other cases, the filter setting section 100 determines No.

[0034] If the answer is Yes, the filter setting section 100 advances the process to step S103. If the answer is No, the filter setting section 100 advances the process to step S104.

[0035] (Step S103) When the moving average filter is enabled, the filter setting unit 100 performs a tap number setting process. First, the filter setting unit 100 sets the fact that the moving average filter has been enabled to the angle adjustment unit 110 through aperiodic communication. The filter setting unit 100 also calculates the optimal number of taps for calculating the moving average from the acquisition period of the position command and the control period of the rotation position. This number of taps is equal to or less than the ratio between the acquisition period of the position command and the control period of the rotation position, so that the motor 4 can be controlled to the rotation position set in the position command within the period of the acquisition period of the position command. Then, the filter setting unit 100 sets the calculated number of taps to the angle adjustment unit 110 through asynchronous communication.

[0036] In the example of FIG. 3, the filter setting section 100 calculates the number of taps as 1 ms / 100 μs=10 (pieces), and sets this number of taps in the angle adjustment section 110.

[0037] (Step S104) Next, the angle adjustment unit 110 performs a moving average filter process. In this process, the angle adjustment unit 110 calculates angle information by a moving average based on the most recently acquired position command value and the previously acquired position command value. For this purpose, the angle adjustment unit 110 uses the number of taps set by the filter setting unit 100.

[0038] According to Figures 3(a) to (d), the position command in the field network communication is updated every 1 ms in this example. However, as shown by the black circle in Figure 3(a), the angle adjustment unit 110 samples the value of the position command in the communication at the period of the angle information, that is, 100 μs. Therefore, the angle adjustment unit 110 acquires the position command value in a large step shape as shown by the dotted line. That is, the angle adjustment unit 110 acquires the sampled position command values ​​for the past number of taps and calculates the average value (moving average) as the angle information indicated by the white circle. In this example, the angle adjustment unit 110 calculates the moving average of the past 10 position command values ​​when sampling each position command, and sets this as the adjusted angle information.

[0039] (Step S105) Here, the angle adjustment unit 110 performs angle control processing. The angle adjustment unit 110 uses the calculated angle information to control the rotational position of the motor 4. Here, when a moving average filter is set, smooth control is possible, as shown by the straight line in FIG. Alternatively, when a moving average filter is not set, the angle adjustment unit 110 can control the rotational position of the motor 4 by using the value of the position command as angle information as it is. This completes the rotational position control process according to the embodiment of the present invention.

[0040] [Main Effects of the Present Embodiment] With the above configuration, the following effects can be obtained. Conventionally, in pulse train input type motor amplifiers, pulses are input from a higher-level device. In this case, the pulse train is input continuously, so the pulse count varies depending on the input cycle of the pulse train. For example, the motor amplifier measures the input pulse count value at a control cycle of 100 μs. Then, every 100 μs, the difference from the previous count value (backward difference) is used as a position command to drive the motor. In such a case, interpolation was not necessary because control was always possible with the appropriate position command.

[0041] Meanwhile, in recent years, control systems have been developed that transmit position commands via field networks such as EtherCAT. In such systems, the command speed and movement amount from the host device are commanded as absolute numerical values ​​via direct communication, with position command values ​​equivalent to the above-mentioned pulse train input.

[0042] As shown in the example of FIG. 4(a), in such a control system, if the acquisition period of the communication command is longer than the control period of the rotational position of the motor amplifier, the same position command value continues a predetermined number of times during the control period of the motor amplifier. In this case, the motor amplifier performs control to maintain the stop without changing the rotational position while the position command does not change, as shown by the angle information Da. After that, when a new position command is acquired and the command value is updated, the motor amplifier performs control to suddenly accelerate and suddenly stop in response to the reception of this new position command, and then performs control to maintain the stop. Such control of sudden acceleration, sudden stopping, and maintaining the stop is repeated periodically, causing noise and vibration.

[0043] In contrast, the motor amplifier 1 according to an embodiment of the present invention is a motor amplifier connected to a higher-level device 2 that transmits a position command and controls the rotation of a motor 4, and is characterized by comprising a filter setting unit 100 that sets a filter to adjust the rotational position of the motor 4 in accordance with the ratio between the acquisition period of the position command acquired from the higher-level device 2 and the control period of the rotational position of the motor 4, and an angle adjustment unit 110 that, when a filter is set by the filter setting unit 100, calculates angle information corresponding to the filter from the position command and controls the rotational position of the motor 4 using the calculated angle information.

[0044] With this configuration, it is possible to mitigate abrupt increases and decreases in the position command value caused by a long communication cycle, and to suppress noise and vibration of the motor 4. 4(b), as shown in the example of angle information Db, applying a filter eliminates control such as sudden acceleration, sudden stopping, and maintaining a stopped state, enabling smooth control. This makes it possible to suppress noise and vibration of the motor 4.

[0045] In the motor amplifier 1 according to the embodiment of the present invention, the filter is a moving average filter, and the angle adjustment unit 110 is characterized in that it calculates angle information by a moving average based on the most recently acquired position command value and the previously acquired position command value.

[0046] By configuring in this way, it is possible to appropriately control the rotational position of the motor 4 having torque, compared to simply performing filtering such as linear interpolation. In other words, by complementing with a moving average filter, appropriate control can be performed regardless of the communication cycle between the upper device 2 and the motor amplifier 1. Therefore, noise and vibration of the motor 4 can be suppressed. In addition, it is possible to ensure that the rotational position of the motor 4 is driven to the angle information of the most recently acquired position command within the period between the time when the most recently acquired position command was obtained and the time when the previous position command was obtained. In other words, for example, it is possible to drive the shaft of the motor 4 to the rotational position specified by the position command with a delay time within one cycle of the position command.

[0047] In the motor amplifier 1 according to the embodiment of the present invention, the filter setting section 100 calculates the number of sampling data for calculating a moving average from the acquisition period of the position command and the control period of the rotational position.

[0048] With this configuration, the optimal number of taps of the moving average filter can be automatically set according to the communication cycle. Therefore, it is not necessary to take the communication cycle into consideration in the amplifier control unit 20. As a result, the motor 4 can be operated without vibration or noise, just like when a pulse train is input.

[0049] Other Embodiments In the above embodiment, an example has been described in which the filter setting unit 100 determines whether or not to set a moving average filter depending on the ratio between the acquisition period of the position command and the control period of the rotational position of the motor.

[0050] However, the filter setting unit 100 may be characterized in that it performs torque conversion using a current feedback value of motor control of the motor 4, detects abnormal noise and vibration during motor operation, and calculates an appropriate number of taps. Furthermore, at this time, the filter setting unit 100 can also estimate an appropriate number of taps for the moving average from the change in the converted torque. For example, when the absolute value (vibration value) of the change in torque within a predetermined period exceeds a specific threshold, the filter control unit 100 determines that vibration or noise has occurred and sets a moving average filter. At this time, the number of taps may be set starting from 1, and the number of taps may be increased to a value that minimizes the above-mentioned vibration value. In addition, if the encoder 3 is configured to include a torque sensor that measures the torque value of the motor 4, it is also possible to obtain a torque feedback value from the torque sensor and perform the above-mentioned processing.

[0051] With this configuration, it is possible to suppress vibration and noise while suppressing delays in controlling the rotational position of the motor 4 based on the position command. In other words, if the vibration and noise are within an acceptable range, high-speed braking can be performed without setting a moving average filter. Alternatively, by minimizing the number of moving average taps, it is possible to quickly change the rotational position to the value of the position command.

[0052] In the above embodiment, the moving average filter is used only for the most recent and past sampled values ​​of the position command. However, for example, the most recent position command may show the same value until the next period, and the moving average may be calculated using the value of this "future" position command. With this configuration, it becomes possible to change the rotational position of the shaft of the motor 4 more quickly and drive it.

[0053] In the above embodiment, a moving average filter is used as a filter, but other smoothing filters can be used. In this case, for example, filtering may be performed taking into account the torque and inertia of the motor shaft, or a future position command value may be estimated from the change in the position command value itself to calculate complementary angle information. By configuring in this way, it becomes possible to deal with various vibrations, noises, and the like according to the periodicity of the position command, the properties of the motor 4, and the like.

[0054] In the above embodiment, an example has been described in which the filter setting unit 100 calculates the number of taps of the moving average filter based on the period of a position command having some error, acquired from the higher-level device 2. However, the filter setting unit 100 may calculate this in accordance with a periodic period in which the communication control unit 10 transmits a position command. Conversely, the filter setting unit 100 may calculate and set the number of taps each time it acquires a position command from the higher-level device 2, based on the period of a position command acquired in the past. With this configuration, even if the period of the position command becomes unstable due to the processing of the higher-level device 2, the state of the field network, noise, or the like, it is possible to set an appropriate number of taps.

[0055] It goes without saying that the configurations and operations of the above-described embodiments are merely examples and can be modified as appropriate without departing from the spirit and scope of the present invention. [Explanation of symbols]

[0056] 1 Motor amplifier 2. Upper device 3 Encoder 4 Motors 10 Communication control section 20 Amplifier control section 100 Filter setting section 110 Angle adjustment section Da, Db angle information A Rotation Axis S shaft X Control System

Claims

1. A motor amplifier connected to a host device that transmits a position command and controls the rotation of a motor, a filter setting unit that sets a filter that adjusts the rotational position of the motor in accordance with a ratio between an acquisition period of the position command acquired from the upper device and a control period of the rotational position of the motor; an angle adjustment unit that calculates angle information corresponding to the filter from the position command when the filter is set by the filter setting unit, and controls a rotational position of the motor based on the calculated angle information, the filter is a moving average filter, The filter setting unit is Converting the torque of the motor, detecting abnormal noise and vibration during motor operation, and calculating an appropriate number of data for the moving average; When a vibration value, which is an absolute value of a torque change within a predetermined period, exceeds a specific threshold, it is determined that the abnormal noise and vibration noise have occurred, the moving average filter is set, and the number of taps of the moving average filter is increased starting from 1, and the value at which the vibration value is minimized is set. A motor amplifier comprising:

2. The motor amplifier according to claim 1 , wherein the filter setting unit calculates and sets the number of taps of the moving average filter each time the position command is received from the higher-level device, based on a period of a previously received position command.

3. The angle adjustment unit is The angle information is calculated by a moving average based on the most recently acquired value of the position command and a previously acquired value of the position command.

3. The motor amplifier according to claim 1, wherein the first and second electrodes are electrically connected to each other.

4. The angle adjustment unit is The number of sampling data for calculating the average of the moving average is calculated based on the acquisition period of the position command and the control period of the rotational position.

4. The motor amplifier according to claim 3.

5. An angle adjustment method performed by a motor amplifier that is connected to a host device that transmits a position command and controls the rotation of a motor, comprising the steps of: setting a filter that adjusts the rotational position of the motor in accordance with a difference between an acquisition period of the position command acquired from the upper device and a control period of the rotational position of the motor; When the filter is set, angle information corresponding to the filter is calculated from the position command, and a rotational position of the motor is controlled based on the calculated angle information; the filter is a moving average filter, Converting the torque of the motor, detecting abnormal noise and vibration during motor operation, and calculating an appropriate number of data for the moving average; When a vibration value, which is an absolute value of a torque change within a predetermined period, exceeds a specific threshold, it is determined that the abnormal noise and vibration noise have occurred, the moving average filter is set, and the number of taps of the moving average filter is increased starting from 1, and the value at which the vibration value is minimized is set. The angle adjustment method according to the present invention is characterized in that

Images