MOTOR CONTROL DEVICE AND MOTOR CONTROL METHOD

Abstract

The motor control device (2) according to the present disclosure is a motor control device capable of executing pressure control, which is control of the motor (3) based on a pressure command, and first control, which is control of the motor (3) based on a first command, which is a command other than the pressure command, and includes a control information memory unit (21) that stores control information including first control information used to generate the first command, second control information used to generate the pressure command, and sequence information indicating the sequence of execution of the first control and the second control, which is the pressure control, and a motor control unit (30) that controls the motor (3) based on the control information.

Description

[Technical field]

[0001] The present disclosure relates to a motor control device and a motor control method. [Background technology]

[0002] There is known a technique for machining an object to be pressed (hereinafter also referred to as a workpiece) while applying pressure to the object using a motor. Patent Document 1 discloses a system including a motor, a motor control device, and a higher-level control device. The motor control device described in Patent Document 1 performs position control and pressure control by controlling the motor using pressure commands and position commands generated by the higher-level control device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2016-226200 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the motor control system described in Patent Document 1, when switching the motor control between position control and pressure control, the upper control device switches between input of a pressure command to the motor control device and input of a position command to the motor control device by software. Therefore, in the motor control system described in Patent Document 1, the operation of the motor control device depends on the calculation cycle and communication cycle of the upper control device. For this reason, in the motor control system described in Patent Document 1, there is a problem that the timing of switching between position control and pressure control is delayed from the timing at which the switching should actually be performed, which may cause a shock in which the pressurizing mechanism collides with the workpiece.

[0005] The present disclosure has been made in consideration of the above, and has an object to provide a motor control device that can reduce shock when switching control of a motor. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the object, a motor control device according to the present disclosure is a motor control device capable of executing pressure control, which is control of a motor based on a pressure command, and first control, which is control of a motor based on a first command, which is a command other than the pressure command, and includes a control information storage unit that stores control information including first control information used to generate the first command, second control information used to generate the pressure command, and sequence information that indicates the sequence of execution of the first control and the second control, which is the pressure control; , manufacturing and a motor control unit that controls the motor based on the control information. , controlling a series of operations of a motor by a series of controls including a plurality of unit controls, where one unit control is a first control or a second control, in one unit control, a set of first control information or a set of second control information is used, the sequence information indicates the execution sequence of the unit controls, the control information is table-form information represented as a table composed of rows and columns, in the table, items corresponding to one column are respectively defined by the first control information and the second control information, a set of first control information or a set of second control information corresponding to one unit control is stored in one row of the table, and the first control information and the second control information include control selection information indicating which control of the first control and the second control the information corresponds to . Effect of the Invention

[0007] The motor control device according to the present disclosure has the effect of reducing shock that occurs when switching motor control. [Brief description of the drawings]

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

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Figure 6

Figure 7

Figure 8

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A motor control device and a motor control method according to embodiments will be described in detail below with reference to the drawings.

[0010] Embodiment 1 is a diagram showing an example of the configuration of a motor control system 100 according to an embodiment. The motor control system 100 according to the embodiment includes an external device 1, a motor control device 2, and a motor 3. The motor control system 100 is used in, for example, a bonding device, a press molding device, an injection molding device, a press processing machine that performs bending, drawing, punching, and the like, but the uses of the motor control system 100 are not limited to these as long as it is used in a processing system that performs processing including a pressurizing operation using the motor 3.

[0011] The external device 1 is a higher-level control device of the motor control device 2, that is, a higher-level control device. For example, based on an input from a user, the external device 1 generates a start signal that instructs the motor control device 2 to start controlling the motor 3, and outputs the generated start signal to the motor control device 2. In addition, the external device 1 may store control information including control parameters used for controlling the motor 3. The control parameters may be stored in the external device 1 in advance, may be set by the user, or may be determined based on processing conditions input by the user. In addition, initial values ​​of the control parameters may be stored in the external device 1 in advance, and the external device 1 may be able to change at least a part of the control parameters by receiving an input from the user to change the control parameters. Details of the control parameters and the control information will be described later.

[0012] An encoder 4 for detecting the rotational position and rotational speed of the motor 3 is attached to the motor 3. The encoder 4 outputs the detection result to the motor control device 2 as an encoder feedback signal. Further, the motor 3 can pressurize a workpiece, which is an object to be pressurized, by driving the pressure head 5. A pressure sensor 6 for detecting pressure is provided on the pressure head 5. The pressure sensor 6 detects the pressure and outputs the detection result to the motor control device 2 as a pressure feedback signal. The pressure sensor 6 is composed of, for example, a load cell and a load cell amplifier, but is not limited thereto.

[0013] The motor control device 2 can execute pressure control, which is control of the motor 3 based on a pressure command, and first control, which is control of the motor 3 based on a first command other than the pressure command. The first control includes at least one of position control, speed control, and torque control. Hereinafter, the pressure control based on the pressure command is also referred to as second control. The motor control device 2 causes the motor 3 to perform a series of operations by a series of controls including switching from the first control to the second control. In the present embodiment, the series of controls performed by the motor control device 2 is composed of two or more unit controls. That is, the motor control device 2 controls a series of operations of the motor 3 by a series of controls including a plurality of unit controls. Each unit control is, for example, the first control or the second control.

[0014] In FIG. 1, an example in which the first control is position control is shown. The motor control device 2 has a control system for position control and a control system for pressure control, and performs a series of controls including switching from position control to pressure control. Hereinafter, an example in which the motor control device 2 has a control system for position control and a control system for pressure control will be described, but the present invention is not limited thereto. The configuration and operation of the present embodiment are also applicable when the motor control device 2 has a control system for speed control or torque control instead of the control system for position control.

[0015] 1, motor control device 2 includes a control information acquisition unit 20, a control information storage unit 21, and a motor control unit 30. Motor control unit 30 includes a command determination unit 22, a position command generation unit 23, a pressure command generation unit 24, a position control unit 25, a pressure control unit 26, a control switching unit 27, a speed control unit 28, and a current control unit 29.

[0016] The control information acquisition unit 20 acquires the control information and stores the acquired control information in the control information storage unit 21. When the control information is stored in the external device 1, the control information acquisition unit 20 acquires the control information by receiving the control information from the external device 1, for example, before starting the control of the motor 3. Alternatively, the control information acquisition unit 20 may acquire the control information by accepting an input from a user. Note that the control information acquisition unit 20 itself may be an input means such as a touch panel or a keyboard that accepts an input from a user, or an input means (not shown) may be provided separately, and the control information acquired by the input means may be acquired by the control information acquisition unit 20.

[0017] The control information storage unit 21 stores the control information. In this embodiment, the control information includes a position control parameter which is a control parameter related to the position control, a pressure control parameter which is a control parameter related to the pressure control, and sequence information which indicates the sequence of execution of the unit control. As described above, the unit control constitutes a series of controls. During one unit control, control is performed using the same control information corresponding to the unit control, i.e., control information including a set of control parameters corresponding to the unit control.

[0018] When a control system for speed control or torque control is used instead of the control system for position control, the control information includes a control parameter for speed control or torque control, a pressure control parameter, and sequence information. The control information may be stored in advance in the control information storage unit 21, and in this case, the control information acquisition unit 20 may not be provided.

[0019] The motor control unit 30 controls the motor 3 using the control information stored in the control information storage unit 21. The command determination unit 22 determines whether to generate a first command or a pressure command. In detail, the command determination unit 22 reads out the control information stored in the control information storage unit 21 for each unit control, determines whether the unit control to be executed based on the read control information is a position control, which is a pressure control, and switches the output destination of the control information between the position command generation unit 23 and the pressure command generation unit 24 according to the determination result. For example, when the unit control to be executed is a pressure control, the command determination unit 22 outputs the read control information to the pressure command generation unit 24, and when the unit control to be executed is a position control, the command determination unit 22 outputs the read control information to the position command generation unit 23. In addition, the command determination unit 22 generates a switching control signal for controlling the switching of the control switching unit 27 based on the determination result, and outputs the generated switching control signal to the control switching unit 27. The switching control signal will be described later.

[0020] Position command generating unit 23 is an example of a first command generating unit that generates a first command based on control information when command determining unit 22 determines to determine a first command. In detail, when position command generating unit 23 receives position control information from command determining unit 22, it generates a position command based on the received position control information and outputs the generated position command to position control unit 25. Note that when the position control information includes a position control gain (information indicating the position control gain), position command generating unit 23 outputs the position control gain to position control unit 25 as gain designation information together with the position command.

[0021] The position control unit 25 is a first control unit that generates a first speed command by feedback control based on the difference between the first command and the first feedback information used for the first control. Specifically, the position control unit 25 generates a first speed command using the position command and the encoder feedback signal, which is the first feedback information, and outputs the generated first speed command to the control switching unit 27. For example, the position control unit 25 generates a speed command corresponding to the difference between the command value indicated by the position command and the position indicated by the encoder feedback signal as the first speed command by feedback control such as proportional control, integral control, proportional-integral control, or PID (Proportional Integral Differential) control. The position control unit 25 can set the position control gain, which is a control gain indicating the tracking performance in the feedback control, to a value specified from a plurality of values. When receiving gain specification information from the position command generation unit 23, the position control unit 25 sets the position control gain to the value corresponding to the received gain specification information and then generates the first speed command.

[0022] The pressure command generation unit 24 is a second command generation unit that generates a second command, which is a pressure command, based on control information when the command determination unit 22 determines that a pressure command is to be determined. Specifically, when receiving pressure control information from the command determination unit 22, the pressure command generation unit 24 generates a pressure command based on the received pressure control information and outputs the generated pressure command to the pressure control unit 26. When the pressure control information includes a pressure control gain (information indicating the pressure control gain), the pressure command generation unit 24 outputs the pressure control gain as gain specification information to the pressure control unit 26 together with the pressure command.

[0023] The pressure control unit 26 is a second control unit that generates a second speed command by feedback control based on the difference between the second command and feedback information of the pressure generated by driving the motor 3. In detail, the pressure control unit 26 generates a second speed command by using the pressure command and a pressure feedback signal that is feedback information of the pressure, and outputs the generated second speed command to the control switching unit 27. For example, the pressure control unit 26 generates a speed command according to the deviation between the command value indicated by the pressure command and the pressure indicated by the pressure feedback signal as the second speed command by feedback control such as proportional control, integral control, proportional-integral control, and PID control. The pressure control unit 26 can set the pressure control gain, which is a control gain indicating the tracking ability in the feedback control, to a value specified from among a plurality of values, and when gain specification information is received from the pressure command generation unit 24, the pressure control unit 26 sets the pressure control gain to a value corresponding to the received gain specification information and then generates a second speed command.

[0024] The control switching unit 27 inputs the first speed command or the second speed command to the speed control unit 28 based on the determination result of the command determination unit 22. In detail, the control switching unit 27 switches the speed command input to the speed control unit 28 between the first speed command output from the position control unit 25 and the second speed command output from the pressure control unit 26 based on the switching control signal received from the command determination unit 22. The switching control signal indicates an instruction to input the first speed command to the speed control unit 28 when the determination result by the command determination unit 22 is position control, and indicates an instruction to input the second speed command to the speed control unit 28 when the determination result by the command determination unit 22 is pressure control. As a result, the control switching unit 27 outputs the first speed command to the speed control unit 28 when the determination result by the command determination unit 22 is position control, and outputs the second speed command to the speed control unit 28 when the determination result by the command determination unit 22 is pressure control. In addition, instead of the command judgment unit 22 controlling the switching of the control switching unit 27 using a switching control signal, the control switching unit 27 may switch the speed command input to the speed control unit 28 by referring to the control information stored in the control information storage unit 21 for each unit control.

[0025] The speed control unit 28 generates a current command based on the input first speed command or second speed command. In detail, the speed control unit 28 generates a current command based on the speed command received from the control switching unit 27, and outputs the generated current command to the current control unit 29. The speed control unit 28 may generate the current command by feedback control such as proportional control, integral control, proportional-integral control, and PID control according to the difference between the speed command and the speed indicated by the encoder feedback signal. The speed control unit 28 may also be capable of setting a specified value from among a plurality of control gains.

[0026] The current control unit 29 controls the current for driving the motor 3 based on the current command received from the speed control unit 28. For example, the current control unit 29 includes a converter circuit that converts an AC power supply into a DC power supply, or an inverter circuit that converts the DC power supply into a desired AC voltage command, and supplies a current according to the current command to the motor 3 by performing PWM (Pulse Width Modulation) control based on the current command.

[0027] The motor control device 2 of this embodiment stores control information in the control information storage unit 21 and uses the stored control information to perform position control and pressure control of the motor 3, so that it can switch between position control and pressure control of the motor 3 without depending on the calculation cycle or communication cycle of the external device 1. In general, the control cycle inside the motor control device 2 is shorter, so that the control meters for position control and pressure control can be reflected at high speed to quickly control the motor 3. This also makes it possible to reduce shock when switching control of the motor 3.

[0028] Note that Figure 1 is just an example, and the motor control device 2 needs to be equipped with a control information storage unit 21 and a control system corresponding to each of the first control and the second control, and be configured to be able to switch between the first control and the second control, and the configuration of the control system is not limited to the example shown in Figure 1.

[0029] FIG. 2 is a diagram showing an example of pressurization using the motor 3 of the embodiment. In the example shown in FIG. 2, a ball screw 7, which is a mechanical drive unit for converting the rotational motion of the motor 3 into a translational motion, is provided on the rotation axis of the motor 3. The pressurization head 5 is joined to the ball screw 7, and the pressurization head 5 moves downward in the plane of the paper and contacts the workpiece 8 placed on the table 9, thereby realizing the pressurization process of the workpiece 8.

[0030] For example, the pressurization head 5 is initially located at a position a certain distance away from the workpiece 8. After the feeding operation in which the pressurization head 5 approaches the workpiece 8 is performed, the pressurization process of the workpiece 8 is realized by applying pressure to the workpiece 8. Note that FIG. 2 is an example, and depending on the content of the processing, the configuration of the pressurization mechanism driven by the motor 3, the configuration of the mechanism that moves by the motor 3, etc. are not limited to the example shown in FIG. 2.

[0031] Next, the operation of this embodiment will be described. FIG. 3 is a flowchart showing an example of the motor control processing procedure in the motor control device 2 of the embodiment. As shown in FIG. 3, the motor control device 2 acquires control information (step S1) and stores the control information (step S2). Specifically, the control information acquisition unit 20 acquires control information by receiving control information from the external device 1 or accepting the input of control information from the user, and stores the control information in the control information storage unit 21. Note that, as described above, the control information may be stored in the control information storage unit 21 in advance. In this case, steps S1 and S2 do not need to be performed.

[0032] The motor control device 2 determines whether or not to start control (step S3). In detail, for example, the command determination unit 22 determines whether or not to receive a start signal from the external device 1, and determines to start control when the start signal is received. The determination of whether or not to start control is not limited to a determination using the start signal from the external device 1. For example, the command determination unit 22 may receive an input of an instruction to start control from a user, and may have a function as an input means such as a switch or button for receiving an input, and may determine to start control when the command determination unit 22 receives an input of an instruction to start control from a user via an input means (not shown). Alternatively, the command determination unit 22 may determine to start control when the command determination unit 22 receives an input of an instruction to start control from a user via an input means (not shown).

[0033] If the control is not to be started (step S3 No), the motor control device 2 repeats step S3. If the control is to be started (step S3 Yes), the motor control device 2 reads out the control information for one unit control (step S4). In detail, the command determination unit 22 reads out the control information for one unit control from the control information stored in the control information storage unit 21. The command determination unit 22 may read out all the control information stored in the control information storage unit 21 once and obtain the control information for one unit control from the control information storage unit 21, and obtain the control information for one unit control from the control information storage unit 21. Alternatively, the command determination unit 22 may read out two sets of control information for one unit control to be executed immediately and the control information for the next unit control from the control information storage unit 21 and obtain the control information for one unit control from the control information storage unit 21. As described above, a series of controls is composed of two or more unit controls, and the same control parameters are used in each unit control. As described above, the control information includes sequence information indicating the sequence, and the command determination unit 22 reads out the control information according to the sequence indicated by the sequence information. For example, in the first step S3 after receiving the start signal, the command determination unit 22 refers to the control information corresponding to the unit control to be executed first. In the second step S3, the command determination unit 22 refers to the control information corresponding to the unit control to be executed second.

[0034] Here, the control information of the present embodiment will be described. Fig. 4 is a diagram showing an example of the control information of the embodiment. In the example shown in Fig. 4, position control information and pressure control information are stored in the control information storage unit 21 as one piece of control information. In the example shown in Fig. 4, the control information is in a table format, and order information is also included in this control information.

[0035] In FIG. 4, the non-hatched portion indicates information related to position control, and the hatched portion indicates information related to pressure control. In the control information shown in FIG. 4, one row indicates one set of control information corresponding to one unit control, and the columns indicate control parameters (types of control parameters) constituting the control information. In the example shown in FIG. 4, one item, i.e., one column, is shared by position control information and pressure control information, and as shown at the top of the table, the control parameters indicated by each column are defined for position control and pressure control, respectively. In FIG. 4, each piece of information (one set of information) shown as information set 31 is for one unit control, i.e., one set of position control information, and each piece of information shown as information set 32 ​​is for one unit control, i.e., one set of pressure control information.

[0036] In the example shown in FIG. 4, the control information includes a number that is identification information of the control information for each group, position data / pressure command, motor speed / speed limit value, acceleration time constant / pressure holding time, deceleration time constant / pressure command time constant, position control selection / pressure control selection, and position control gain selection / pressure control gain selection. The position data / pressure command, motor speed / speed limit value, acceleration time constant / pressure holding time, and deceleration time constant / pressure command time constant are control parameters used in any of the processes of the position command generation unit 23, the pressure command generation unit 24, the position control unit 25, and the pressure control unit 26, i.e., in the position control or the pressure control. The position data indicates a switching condition that is a condition under which switching from position control to pressure control is performed. In the example shown in FIG. 4, when the position of the motor 3 becomes P1, switching from position control to pressure control is performed. The switching condition is generally expressed in a format in which item A becomes value B. Item A is an item (control parameter) used as a switching condition. For example, in the example shown in Fig. 4, with regard to the switching condition from position control to pressure control, item A is the position of the motor 3, i.e., position data, and value B is P1. In the example shown in Fig. 4, value B corresponding to item A is included in the control information. In this manner, the control information may include information indicating the switching condition from position control to pressure control.

[0037] Furthermore, information specifying an item used as a switching condition (item A described above), i.e., information indicating an item used as a switching condition, may be included in the control information as judgment item information. For example, a column of judgment item information may be added to the table shown in FIG. 4, and information specifying an item used as a switching condition may be stored in the column of judgment item information in each row. For example, if the judgment item information is 1, item A is position data, and if the judgment item information is 2, item A is pressure retention time. The judgment item information is expressed as a numerical value, but the method of expressing the judgment item information is not limited to this.

[0038] 4, information specifying item A for each type of operation, or for each combination of the type of operation before switching and the type of operation after switching, may be stored as judgment item information in the control information storage unit 21. Items used as switching conditions include, for example, the position (position data) of the motor 3 and pressure retention time, but are not limited to these, and may be pressure (pressure feedback), speed (rotation speed) of the motor 3, time (length of time for control), or other items.

[0039] As described above, the switching conditions may be specified by the judgment item information and the data (value) of the item specified by the judgment item information. The judgment item information and the data of the item specified by the judgment item information are one example of information indicating the switching conditions. The information indicating the switching conditions is not limited to this example, and may be stored in the control information storage unit 21 separately from the table shown in FIG. 4. Furthermore, the switching conditions are not limited to a condition expressed in the format that item A becomes value B, and it is sufficient that the information indicating the switching conditions is set according to the format of the condition.

[0040] The position control selection / pressure control selection in the sixth column from the left of the control information shown in Fig. 4 is control selection information indicating whether the unit control indicated by that row is position control or pressure control. In the example shown in Fig. 4, the control selection information not only indicates whether the corresponding unit control is position control or pressure control, but also indicates the type of operation performed by the corresponding unit control.

[0041] In the example shown in FIG. 4, the operation in the pressure control is divided into three operations: a feed operation, a pressure holding operation, and a pressure release operation. In addition, in the example shown in FIG. 4, the position control is divided into operations whether or not a series of operations is completed after the end of the position control corresponding to the row. For example, in the example shown in FIG. 4, 1, 2, and 3 indicate the feed operation, pressure holding operation, and pressure release operation in the pressure control, respectively, and 10 and 12 indicate the position control. Also, 10 indicates that the operation of the next row (No. 2 in the example shown in FIG. 4) is performed after the corresponding position control, and 12 indicates that a series of operations is completed after the corresponding position control, that is, there is no subsequent operation. Note that in FIG. 4, the explanation of the operation is described in parentheses for ease of understanding, but the control selection information does not need to include the explanation in parentheses and only the numerical value is required. Note that in FIG. 4, an example is shown in which the operation of the pressure control is divided into a feed operation, a pressure holding operation, and a pressure release operation, but if there is only one type of operation of the pressure control, the operation of the pressure control does not need to be divided.

[0042] In the example shown in FIG. 4, the position control is subdivided, and after the position control is ended, whether or not a series of operations (controls corresponding to a series of operations) is completed is shown. However, this is not limited to this, and a value indicating completion may be defined as the control selection information, and one line No. 7 may be added to the end of the control information shown in FIG. 4, and a value indicating completion may be stored in the control selection information. In this case, other information in this line may not be stored, and any value may be stored. Furthermore, the completion of the series of operations may be instructed from the external device 1 by transmitting a completion signal from the external device 1. Alternatively, the control information may include information indicating the number of unit controls to be executed, or the number of unit controls to be executed may be predetermined in the control information, and the command determination unit 22 may determine the completion of the series of operations by counting the number of unit controls executed.

[0043] The above-mentioned judgment item information may be included in the information stored in the position control selection / pressure control selection item. In the example shown in FIG. 4, the position control selection / pressure control selection column stores control selection information indicating whether the control is position control or pressure control, but the present invention is not limited to this. For example, the information stored in this column may be selection information including both control selection information and judgment item information. For example, the selection information may be defined as a hexadecimal number of two or more digits from 0 to F, with the first digit being the control selection information and the second digit being the judgment item information. In more detail, for example, X 1 ,X 2 Let each be a hexadecimal number, and the selection information be X 2 X 1 and the first digit is X 1 is the control selection information, and the second digit X 2 may be used as the judgment item information. For example, when the judgment item information is 1, it indicates that the position data is specified as the selection condition, and when the judgment item information is 2, it indicates that the holding pressure information is specified as the selection condition. In this way, the content of the judgment item information corresponding to each numerical value is predefined. The selection information may be three or more digits, and in this case, the third and subsequent digits may be information indicating content other than the switching condition. In addition, which digits in the selection information are used as the control selection information and which digits are used as the judgment item information are not limited to the above-mentioned example. In addition, the selection information is not limited to the example expressed in hexadecimal notation.

[0044] The position control gain selection / pressure control gain selection in the seventh column from the left of the control information shown in Fig. 4 is information indicating a position control gain in the case of position control, i.e., information specifying a position control gain set in position control unit 25, and is information indicating a pressure control gain in the case of pressure control, i.e., information specifying a pressure control gain set in pressure control unit 26. Although not shown in Fig. 4, the speed control gain, which is the control gain in speed control unit 28, may also be included in the control information to specify the speed control gain.

[0045] In the example shown in FIG. 4, the order of each row in the table format, i.e., the numbers written in the number column, is sequence information indicating the order of execution of each unit control in a series of controls for executing a series of operations. Therefore, in the example shown in FIG. 4, control is performed in the order of No. 1 → No. 2 → No. 3 → No. 4 → No. 5 → No. 6. Note that the control information shown in FIG. 4 is an example, and the specific types of control parameters used in the position control or pressure control, the order of execution, the types of operations in the control selection information, and the specific contents of the control selection information are not limited to the example shown in FIG. The sequence information is also not limited to the example indicated by numbers. Also, in FIG. 4, numbers are given to each row, but the order of the rows indicates the order, and a number column may not be provided. In this case, the order of the rows becomes sequence information indicating the order.

[0046] In addition, FIG. 4 shows an example in which the controls are executed in numerical order, but by setting the control selection information, it is also possible to execute the same number again after execution is completed, or to return to the control of the specified number and execute the process from the specified number again. For example, when the control selection information is 14, it is possible to define that one unit control process is executed twice, and to execute the same number again by specifying 14 as the control selection information. Also, for example, when the control selection information is 15, it is possible to define that No. 2 to No. 5 are executed again, and to execute No. 2 to No. 5 again after No. 6 by setting the control selection information of No. 6 shown in FIG. 4 to 15. In this case, by adding a line with No. 7 and control selection information of 12 to the control information, No. 7 is executed after the second execution of No. 2 to No. 5, and the series of operations is completed.

[0047] In the example shown in FIG. 4, the control information is in a table format consisting of rows and columns, but the format of the control information is not limited to the table format. For example, the control information may be expressed by an algorithm such as a flow chart, or may be expressed by a calculation formula. In the example shown in FIG. 4, the position control information and the pressure control information are stored in the control information storage unit 21 as one piece of control information, but as described later, the position control information and the pressure control information may be stored separately in the control information storage unit 21. The contents of each item shown in FIG. 4 are examples, and information not shown in FIG. 4 may be included in the control information, or some items shown in FIG. 4 may not be included in the control information. The same item, that is, information stored in one column of the table shown in FIG. 4, can be set separately for position control and pressure control, except for the control designation information. That is, information corresponding to the same column does not need to be related to each other in position control and pressure control. The number of control information may be different between position control and pressure control. In this case, the number of columns in the table is adjusted to the one with the larger number of pieces of information, and some columns are not used in the control with the smaller number of pieces of information. In addition, after the control information is once stored in the control information storage unit 21, a part or all of the control information may be changed in response to an input from a user, an instruction from the external device 1, or the like.

[0048] In the example shown in FIG. 4, the position control information and the pressure control information are treated as one piece of control information, so that the amount of memory used as the control information storage unit 21 can be reduced compared to the case where an area for storing each of the position control information and the pressure control information is secured separately. Furthermore, in the example shown in FIG. 4, the control information is treated as information in a table format represented as one table consisting of rows and columns, and the columns of one table are used in common to give the same column two meanings, an item of the position control information and the pressure control information. The position control information and the pressure control information include control selection information indicating which of the position control and the pressure control the information corresponds to. This makes it possible to store both the position control information (information of one item of the position control information) and the pressure control information (information of one item of the pressure control information) in one column. One row of the table stores one set of position control information or one set of pressure control information corresponding to one unit control. In this way, compared to the case where the position control information and the pressure control information are stored as tables, the amount of memory used for overhead can be reduced.

[0049] Furthermore, by including the order information in the same table, memory usage can be reduced compared to when a separate area is reserved for the order information. In the example shown in FIG. 4, since the operations are executed in order from top to bottom of the table in principle, the order information is indicated by the row-wise arrangement order of each set of information (position control information or pressure control information) in the control information. Also, as described above, the control selection information stored in the position control selection / pressure control selection column may specify the subsequent control. That is, the control selection information may include order information. For example, the control selection information may include, as order information, information indicating a row corresponding to the control to be executed after the control based on the set of information corresponding to the control selection information has been executed.

[0050] Also, as in the example shown in FIG. 4, by including a switching condition from position control to pressure control in the control information, even if the switching condition from position control to pressure control is defined, the motor control device 2 can automatically switch from position control to pressure control without depending on information from the external device 1. Similarly, when the switching condition from pressure control to position control is defined, the switching condition (information indicating the switching condition) may be included in the control information. Also, when the period during which pressure control is performed is divided into a plurality of unit controls, the switching condition for each unit control may be included in the control information. For example, as described above, the judgment item information may be included in the item of position control selection / pressure control selection in the control information shown in the table format, and for each row, the control parameter corresponding to the judgment item information may be included in the information (one set of information) of the row. Similarly, when the period during which position control is performed is divided into a plurality of unit controls, the switching condition for the unit control may be included in the control information. This makes it possible to prevent a delay in the switching timing without being affected by the calculation cycle or communication cycle of the external device 1. Therefore, the motor control device 2 can reduce a shock when switching from position control to pressure control.

[0051] Also, as in the example shown in FIG. 4, the control information may include a control gain. That is, the position control information may include information specifying a control gain in the position control, and the pressure control information may include information specifying a control gain in the pressure control. This allows the motor control device 2 to set a control gain according to each unit control. If the control gain is included in the control information, the control gain can be set in conjunction with the switching from the position control to the pressure control, so that when the position control is switched to the pressure control, a fine operation is possible, and the shock when the position control is switched to the pressure control can be further reduced. If the control gain is set to a constant value, the gain value is set low according to the situation where vibration is likely to occur in the pressure control operation. In this embodiment, since the gain can be selected and set from among multiple gains, an appropriate control gain according to the situation can be set. In particular, when the workpiece 8 and the pressure head 5 are brought into contact with each other from a non-contact state, in addition to the shock of contact, the vibration of the pressure head 5 itself according to the control performance is added. By being able to set the gain appropriately, the pressure head 5 can follow the pressure command according to the pressure feedback while suppressing the vibration of the pressure head 5 itself, so that the shock can be reduced by switching the control gain.

[0052] In addition, even when the workpiece 8 changes, such as when the workpiece 8 is deformed, fine adjustments can be made by setting the control gain for each unit control, and the accuracy of the pressure control can be maintained. For example, the workpiece 8 may be physically deformed due to the pressure head 5 pressing the workpiece 8 during pressure control. When the workpiece 8 is deformed, the pressure feedback changes, but by setting the control gain when following the pressure command according to the expected deformation, the motor control device 2 can perform control that quickly follows the pressure command even if the pressure feedback changes. Note that if the gain is increased too much, vibrations may occur, but by being able to set the control gain according to the characteristics of the workpiece 8, the motor control device 2 can realize control that quickly follows the pressure command while suppressing the occurrence of vibrations.

[0053] Returning to the explanation of Fig. 3, for example, when the control information shown in Fig. 4 is used, the command determination unit 22 reads out one line of control information as one unit control in step S4. As described above, in the example shown in Fig. 4, since the numbers indicate the execution order, the control information in the line numbered 1 is read out in the first step S4.

[0054] Next, the motor control device 2 determines whether or not there is an instruction to execute pressure control (step S5). Specifically, for example, the command determination unit 22 determines whether the control instructed by the control information read in step S4 is pressure control or position control based on the control information. When the control information shown in Fig. 4 is used, the command determination unit 22 refers to the control selection information stored in the position control selection / pressure control selection column and determines whether the instructed control is pressure control or position control.

[0055] If the instruction is not to execute pressure control (step S5 No), that is, if the instruction is to execute position control, motor control device 2 executes position control (step S6). In detail, instruction determination unit 22 outputs the read control information to position command generation unit 23, generates a switching control signal that instructs control switching unit 27 to select the first speed command output from position control unit 25 and output it to speed control unit 28, and outputs the generated switching control signal to control switching unit 27. Thereby, position command generation unit 23 and position control unit 25 operate, the first speed command generated by position control unit 25 is output to speed control unit 28, speed control unit 28 generates a current command using the first speed command, and current control unit 29 controls the current supplied to motor 3 based on the current command.

[0056] The motor control device 2 judges whether or not to end the unit control (step S7). In detail, the command judgment unit 22 judges whether or not the condition for ending the unit control is satisfied. For example, when the control information shown in FIG. 4 is used, the switching condition from position control to pressure control is specified as the position data, so the command judgment unit 22 judges whether or not the switching condition is satisfied using the encoder feedback signal and the position data. Alternatively, when the duration of the unit control is set, it may be judged whether or not the elapsed time from the start of the unit control reaches the set measurement time. When the unit control is not to be ended (step S7 No), the motor control device 2 continues the position control of step S6 as the unit control.

[0057] When the unit control is to be ended (Yes in step S7), the motor control device 2 judges whether or not the control is to be completed (step S10), and when the control is to be completed (Yes in step S10), the control process for the series of operations is ended. For example, in step S10, the command determination unit 22 judges whether or not the control is to be completed based on the control information. When the control information shown in FIG. 4 is used, the command determination unit 22 judges that the control is to be completed when the control selection information is a value indicating that the control is to be completed after the corresponding unit control is ended, that is, when the control selection information is 12. Note that, as described above, the method of judging the completion is not limited to this example, and for example, a completion signal may be transmitted from the external device 1, or the completion may be judged by determining the number of unit controls to be executed.

[0058] If the control is not to be completed (No in step S10), the motor control device 2 repeats the process from step S4. For example, when the control information shown in Fig. 4 is used, in the second step S4, the command determination unit 22 reads out the control information No. 2.

[0059] If the answer is Yes in step S5, the motor control device 2 executes pressure control (step S8). In detail, the command determination unit 22 outputs the read control information to the pressure command generation unit 24, generates a switching control signal that instructs the control switching unit 27 to select the second speed command output from the pressure control unit 26 and output it to the speed control unit 28, and outputs the generated switching control signal to the control switching unit 27. This causes the pressure command generation unit 24 and the pressure control unit 26 to operate, the second speed command generated by the pressure control unit 26 is output to the speed control unit 28, the speed control unit 28 generates a current command using the second speed command, and the current control unit 29 controls the current supplied to the motor 3 based on the current command.

[0060] The motor control device 2 determines whether or not to end the unit control (step S9). In detail, the command determination unit 22 determines whether or not the condition for ending the unit control is met. For example, when the control information shown in FIG. 4 is used, since a pressure-holding time is set in the pressure-holding operation of the pressure control, it is determined whether or not to end the unit control based on whether the elapsed time from the start of the pressure-holding operation reaches the pressure-holding time. If the unit control is not to be ended (step S9 No), the motor control device 2 continues the pressure control of step S8 as the unit control. If the unit control is to be ended (step S9 Yes), the motor control device 2 advances the process to step S10.

[0061] Next, the control performed by the motor control device 2 will be described with a specific example. FIG. 5 is a diagram showing an example of a series of operations in the embodiment. FIG. 5 shows an example of an operation performed based on the control information shown in FIG. 4. The upper part of FIG. 5 shows an image diagram showing the operation of the motor 3 and the pressure head 5 in a simplified manner. In FIG. 5, only some parts are labeled for simplification of the diagram. The white arrows in the upper part of FIG. 5 indicate the movement of the pressure head 5, and the black hatched arrows indicate the pressure applied to the workpiece 8 by the pressure head 5. The first row at the bottom of FIG. 5 shows the motor speed, which is the speed of the motor 3, the second row at the bottom of FIG. 5 shows the gains (position control gain, pressure control gain), and the third row at the bottom of FIG. 5 shows the pressure command and pressure feedback (detection value by the pressure sensor 6), and the horizontal axis shows time.

[0062] As shown in Figures 4 and 5, position control is performed first as unit control No. 1. Here, it is assumed that position data is specified as judgment item information in switching from position control, which is unit control No. 1, to pressure control, which is unit control No. 2. In position control No. 1, since the position data, which is the control parameter corresponding to the judgment item information, in the control information shown in Figure 4, is P1, the motor control device 2 drives the motor 3 by position control to lower the pressure head 5 until the position of the motor 3 reaches P1. At this time, the gain (position control gain) in the position control unit 25 is set to G1.

[0063] When the switching condition is satisfied, the motor control device 2 reads out the control information of No. 2 and executes the pressure controlled feed operation as the unit control of No. 2. During the unit control of No. 2, the speed limit value is set to V2, so the motor speed is controlled to be equal to or less than V2. The feed operation causes the workpiece 8 and the pressure head 5 to transition from a non-contact state to a contact state. The command value of the pressure command shown by the broken line in the third row of FIG. 5 is set to PN1, and the gain (pressure control gain) in the pressure control unit 26 is set to G2. Although the command value of the pressure command is set to PN1, actual pressure application is not started in the feed operation. In the examples shown in FIG. 4 and FIG. 5, the condition for ending the feed operation, that is, the switching condition from the feed operation to the next unit control, is specified by the position data. The position data in this switching condition may be specified separately from the table shown in FIG. 4, or may be included in a table indicating the control information, not shown in FIG. 4.

[0064] When the condition for ending the feed operation is satisfied, the motor control device 2 reads out the control information of No. 3 and executes the pressure control dwelling operation as the unit control of No. 3. In the example shown in FIG. 4 and FIG. 5, the end condition of the pressure dwelling operations of No. 3 and No. 4, that is, the switching condition from the pressure dwelling operations of No. 3 and No. 4 to the next unit control, is specified by the pressure dwelling time. During the unit control of No. 3, the pressure dwelling time is set to T1, so the motor control device 2 executes the pressure dwelling operation for the time of T1. In addition, the command value of the pressure command is set to PN1 as in No. 2, and the pressure feedback is controlled to be PN1. In addition, the gain (pressure control gain) in the pressure control unit 26 is set to G3.

[0065] Next, the pressure control pressure holding operation continues as unit control No. 4. During the unit control period of No. 4, since the pressure holding time is set to T2, the motor control device 2 performs the pressure holding operation for the time T2. The command value of the pressure command is set to PN2, and the pressure feedback is controlled to be PN2. The gain (pressure control gain) in the pressure control unit 26 is set to G4. In this way, by changing the gain values ​​set in No. 3 and No. 4, it is possible to change the gain during the pressure holding operation according to the pressure holding time. In this embodiment, the control gain can be set finely by the control information, so that the shock at the time of switching from position control to pressure control can be reduced.

[0066] Next, the pressure control depressurization operation is performed as the unit control of No. 5. In the example shown in Fig. 4 and Fig. 5, the end condition of the depressurization operation of No. 5, i.e., the switching condition from the depressurization operation of No. 5 to the position control of No. 6, is specified by the pressure (pressure feedback). Therefore, the depressurization operation is performed until the pressure feedback becomes PN3 or less. Also, the gain (pressure control gain) in the pressure control unit 26 is set to G5. In the depressurization operation, the workpiece 8 and the pressure head 5 transition from a contacting state to a non-contacting state.

[0067] Next, position control is performed as unit control No. 6. This position control is performed until the position of the motor 3 reaches P2. The gain (position control gain) in the position control unit 25 is set to G6.

[0068] As described above, the motor control device 2 of this embodiment can automatically switch between position control and pressure control using stored control information. Therefore, it is not affected by the calculation cycle or communication cycle of the external device 1, and shocks caused when switching the control of the motor 3 can be reduced.

[0069] Next, another example of the control information will be described. FIG. 6 is a diagram showing another example of the control information of an embodiment in which a sequence from a feed operation to a depressurization operation is repeated twice. In the example shown in FIG. 6, an example of the control information in which a sequence from a feed operation to a depressurization operation is repeated twice is shown. In the example shown in FIG. 6, the information sets 31 of No. 1, No. 5, and No. 9 are position control information, and the information sets 32 of No. 2 to No. 4 and No. 6 to No. 8 are pressure control information. The control information of each of No. 6 to No. 8 is the same as the control information of each of No. 2 to No. 4, and therefore, the operations corresponding to No. 6 to No. 8 are the same as the operations corresponding to No. 2 to No. 4, and the sequence from a feed operation to a depressurization operation is repeated twice. In FIG. 6, when the same operation is repeated, multiple sets of control information corresponding to the repeated operation are stored in the control information table, but this is not limited thereto. The table may store one set of control information corresponding to the repeated operation, and the repeated operation may be performed by specifying the number to be executed next by setting the control selection information as described above. For example, the control selection information in row No. 5 of FIG. 6 may store a value indicating that after No. 5 is executed, No. 2 to No. 4 are repeated, and if No. 2 to No. 4 have been executed twice, the series of operations is completed after No. 5 is executed, and the control information may consist only of information from No. 1 to No. 5.

[0070] Fig. 7 is a diagram showing an example of control information in an embodiment in which the position control information and the pressure control information are stored separately. In the example shown in Fig. 7, the position control information and the pressure control information are stored separately in a table format in the control information storage unit 21. Note that the format of the position control information and the pressure control information is not limited to the table format.

[0071] In the example shown in FIG. 7, the control information includes position control information, pressure control information, and order information. For example, in the order information, by attaching an "a" to the number corresponding to each set of information in the position control information and attaching a "b" to the number corresponding to each set of information in the pressure control information, it is identified which of the position control information and the pressure control information is indicated. For example, a1 indicates No. 1 of the position control information. In the example shown in FIG. 7, since the order information is determined so as to be executed in the order of a1, b1, b2, b3, b4, a2, b5, b6, b7, a3, first, the position control corresponding to No. 1 in the position control information is performed, and then, the pressure control corresponding to Nos. 1 to 4 in the pressure control information is performed. Further, next, the position control corresponding to No. 2 in the position control information is performed, then, the pressure control corresponding to Nos. 5 to 7 in the pressure control information is performed, and finally, the position control corresponding to No. 3 in the position control information is performed.

[0072] In step S4 described above, the command determination unit 22 reads out the information of the corresponding number from the position control information or the pressure control information based on the order information. Note that the order information shown in FIG. 7, the information for identifying the position control information and the pressure control information, is not limited to "a" and "b". For example, it may be determined that Nos. 1 to 20 are numbers for position control and numbers 21 and later are numbers for pressure control, and the numbers may be assigned according to this rule for the position control information and the pressure control information. Also, when there is no order instruction, the control corresponding to the next number in the same control information is performed, and when switching between position control and pressure control, it is assumed that the execution starts from the next number that has been executed. In the order information, the number corresponding to the control performed at the start of a series of controls and the number of the control at which the position control and the pressure control are switched after the execution of the unit control may be specified. For example, when the control is performed in the order of FIG. 7, as the order information, a1 is specified as the first control to be performed, and a1, b4, a2, b7 are specified as the switching numbers. The method of specifying the order in the order information described above is an example, and the method of specifying the order in the order information is not limited to these examples.

[0073] In the control selection column shown in FIG. 7, control selection information indicating the type of control in position control or the type of control in pressure control is stored. In the example shown in FIG. 7, the order information is provided separately from the position control information and the pressure control information, but the order information may be included in the position control information and the pressure control information. For example, a column of order information may be added to each of the position control information and the pressure control information, and a number corresponding to the control to be executed after the control corresponding to the row is completed may be stored. For example, by storing a value indicating No. 1 of the pressure control information as the order information corresponding to No. 1 of the position control information, No. 1 of the pressure control information is executed after the control corresponding to No. 1 of the position control information. Similarly, by storing information indicating the control to be executed next as the order information of each row, the execution order of the unit controls in a series of operations including both the position control and the pressure control can be set to a desired order. In addition, when the order information is not specified, that is, when the order information is blank, the control of the next number in the same control information may be executed after the corresponding unit control is completed. In addition, the control selection column shown in FIG. 7 may be used as a column of order information, and information indicating the control to be executed next may be stored in this column. 6 and 7 are merely examples, and as described with reference to FIG. 4, the information contained in the position control information and the pressure control information is not limited to these examples.

[0074] In the above example, the position control is performed as the first control. However, when the first control is performed as speed control, torque control, or the like other than the position control, the speed control information used for the speed control and the torque control information used for the torque control are stored in the control information storage unit 21 instead of the position control information. This allows the control to be performed without being affected by the calculation cycle or communication cycle of the external device 1, so that the shock at the time of switching between the speed control or torque control and the pressure control can be reduced. When the switching conditions between the speed control or torque control and the pressure control are determined, the switching conditions are also included in the control information. When two of the position control, the speed control, and the torque control are performed as the first control, the control information for each of them is stored in the control information storage unit 21 in the same manner, so that the motor control device 2 can automatically switch the control without being affected by the calculation cycle or communication cycle of the external device 1.

[0075] Next, the hardware configuration of the motor control device 2 of this embodiment will be described. At least some of the components constituting the motor control device 2 shown in FIG. 1 are realized, for example, by a processing circuit. The processing circuit may be a dedicated circuit such as an FPGA (Field-Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit), or may be a control circuit equipped with a processor. At least some of the components constituting the motor control device 2 may be realized by a combination of a processing circuit, which is a dedicated circuit, and a control circuit. At least some of the components constituting the motor control device 2 may be realized by both a processing circuit and hardware such as a switching circuit.

[0076] For example, at least some of the command determination unit 22, position command generation unit 23, pressure command generation unit 24, position control unit 25, pressure control unit 26, control switching unit 27, speed control unit 28 and current control unit 29 shown in FIG. 1 are realized by a processing circuit.

[0077] 8 is a diagram showing an example of a control circuit. When a processing unit, which is at least a part of the units constituting the motor control device 2, is realized by the control circuit, the function of the processing unit is realized by the processor 101 executing a program for realizing the operation of the target unit stored in the memory 102. The processor 101 includes, for example, a CPU (also called a central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, or DSP (Digital Signal Processor)) or a system LSI (Large Scale Integration). The memory 102 includes, for example, a RAM (Random Access Memory) and a ROM (Read Only Memory).

[0078] When the processor 101 executes the program, the memory 102 is also used. The program may be provided by a recording medium or a communication medium. The control circuit is an example of a computer system, and the program can be said to be a program that causes the computer system to execute each process performed by the processing unit. Moreover, the control information storage unit 21 shown in FIG. 1 may be a part of the memory 102, or may be realized by a memory provided separately from the memory 102. Moreover, the processing unit may be realized by a plurality of control circuits.

[0079] Furthermore, when the control information acquisition unit 20 accepts input from a user, the control information acquisition unit 20 is realized by an input means such as a touch panel or a keyboard, and when the control information acquisition unit 20 receives control information from the external device 1, the control information acquisition unit 20 is realized by a communication unit having a transmitter and a receiver. The control information acquisition unit 20 may be realized by both an input means and a communication unit. Furthermore, when the control information acquisition unit 20 receives control information from an external input means, the control information acquisition unit 20 is realized by a communication unit that receives control information from the input means or an input interface circuit, etc.

[0080] In addition, when the command determination unit 22 receives a start signal from the external device 1, a communication unit is also used to realize the command determination unit 22. Alternatively, a communication unit is used separately from the command determination unit 22, and the command determination unit 22 may receive the start signal from the external device 1 via the communication unit. This communication unit may be the same as the communication unit that receives the control information. In addition, when the command determination unit 22 receives an instruction to start control from a user, input means such as a button, a switch, or a touch panel are also used to realize the command determination unit 22. In addition, when the command determination unit 22 receives an instruction to start control from an external input means, a communication unit or an input interface circuit that receives an instruction from the input means is also used to realize the command determination unit 22.

[0081] As described above, in this embodiment, the motor control device 2 stores control information including first control information used for the first control, second control information used for the second control, and sequence information indicating the sequence of execution of the unit controls, and controls the motor 3 using the stored control information. This makes it possible to reduce shock when switching the control of the motor 3.

[0082] The configurations shown in the above embodiments are merely examples, and may be combined with other known technologies, or the embodiments may be combined with each other. Also, parts of the configurations may be omitted or modified without departing from the spirit of the invention. [Explanation of symbols]

[0083] 1 external device, 2 motor control device, 3 motor, 4 encoder, 5 pressure head, 6 pressure sensor, 7 ball screw, 8 workpiece, 9 table, 20 control information acquisition unit, 21 control information storage unit, 22 command determination unit, 23 position command generation unit, 24 pressure command generation unit, 25 position control unit, 26 pressure control unit, 27 control switching unit, 28 speed control unit, 29 current control unit, 30 motor control unit, 31, 32 information set, 100 motor control system.

Claims

1. A motor control device capable of performing pressure control, which is motor control based on a pressure command, and first control, which is motor control based on a first command other than the pressure command, A control information storage unit that stores control information including first control information used for generating the first command, second control information used for generating the pressure command, and sequence information indicating the order of execution of the first control and the second control which is the pressure control, When a start signal is received from an external device which is a higher-level control device, the motor control unit controls the motor based on the control information, A motor control device characterized by comprising:

2. A series of controls, including multiple unit controls, are used to control the motor's operations. One of the unit controls is the first control or the second control, In one of the aforementioned unit controls, one set of the first control information or one set of the second control information is used. The motor control device according to claim 1, characterized in that the sequence information indicates the order in which the unit control is executed.

3. The motor control device according to claim 1 or 2, characterized in that the control information storage unit stores the first control information, the second control information, and the sequence information as a single piece of control information.

4. The control information is in table format, represented as a single table consisting of rows and columns, where each column of the table has items defined in the first control information and the second control information, and each row of the table stores one set of the first control information or one set of the second control information corresponding to one unit control. The motor control device according to claim 2, characterized in that the first control information and the second control information include control selection information indicating which of the first control and the second control the information corresponds to.

5. The motor control device according to claim 4, characterized in that the sequence information is indicated by the row-direction arrangement of each set of information in the control information.

6. The motor control device according to claim 4, characterized in that the control selection information includes, as sequence information, information indicating a row corresponding to a control to be executed after a control based on a set of information corresponding to the control selection information has been performed.

7. The motor control device according to claim 1 or 2, characterized in that the control information storage unit individually stores the first control information, the second control information, and the sequence information.

8. The motor control device according to claim 1 or 2, characterized in that the control information includes information indicating the switching conditions from the first control to the second control.

9. The first control information includes information specifying the control gain in the first control, The motor control device according to claim 1 or 2, characterized in that the second control information includes information specifying the control gain in the second control.

10. The motor control device according to claim 1 or 2, characterized in that the first control includes at least one of position control, speed control, and torque control.

11. The motor control unit, A command determination unit that determines which of the first command and the pressure command to generate based on the control information, When the command determination unit determines that it will generate the first command, a first command generation unit generates the first command based on the control information, When the command determination unit determines that it will generate the pressure command, a second command generation unit generates a second command, which is the pressure command, based on the control information. The motor control device according to claim 10, characterized by comprising:

12. The first control is the position control, the torque control, or the speed control, The motor control unit, A first control unit that generates a first speed command by feedback control based on the difference between the first command and the first feedback information used for the first control, A second control unit generates a second speed command by feedback control based on the difference between the second command and feedback information of pressure generated by the drive of the motor, A speed control unit that generates a current command based on the input first speed command or the second speed command, A control switching unit inputs the first speed command or the second speed command to the speed control unit based on the determination result of the command determination unit, A current control unit that supplies current to the motor based on the current command, The motor control device according to claim 11, characterized by comprising:

13. A motor control method in a motor control device capable of performing pressure control, which is motor control based on a pressure command, and a first control, which is motor control based on a first command other than the pressure command, The system stores control information including first control information used to generate the first command, second control information used to generate the pressure command, and sequence information indicating the order in which the first control and the pressure control are executed. When a start signal is received from an external device which is a higher-level control device, the motor is controlled based on the control information. A motor control method characterized by the following features.

Images