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A control mode changing over method for a servo control system, which is capable of reducing a shock occurring in changing over a control mode from a torque control mode to a position/velocity control mode. In the torque control mode, a value of an integrator in a velocity loop for the position/velo

A control mode changing over method for a servo control system, which is capable of reducing a shock occurring in changing over a control mode from a torque control mode to a position/velocity control mode. In the torque control mode, a value of an integrator in a velocity loop for the position/velocity control mode is rewritten into a torque command value for torque control so that the value of the integrator is always set to the same value as the torque command. When a control mode is changed over from the torque control mode to the position/velocity control mode, a torque command value for a servo motor is obtained based on the value of the integrator rewritten in the torque control mode. Thus, a continuous torque command value is given to the servo motor in changing over the control mode.

대표청구항 ▼

[ We claim:] [1.] A control mode changing over method for a servo control system operable in either a torque control mode controlling a torque of a servo motor or a position/velocity control mode controlling a position and a velocity of a servo motor using a position loop and a velocity loop, compri

[ We claim:] [1.] A control mode changing over method for a servo control system operable in either a torque control mode controlling a torque of a servo motor or a position/velocity control mode controlling a position and a velocity of a servo motor using a position loop and a velocity loop, comprising the steps of:(a) rewriting a value stored in an integrator provided in said velocity loop to a torque command for torque control when said servo control system is operating in the torque control mode, such that the value stored in the integrator coincides with the torque command in the torque control mode; and(b) obtaining a torque command value for said servo motor using the value of said integrator rewritten in said step (a) when the control mode is changed from the torque control mode to the position/velocity control mode.