JPH05265558A - Abnormality detecting device for motor controller and rotating body - Google Patents

Abstract

PURPOSE:To detect the abnormality of a rotating body containing a motor and a control system for the rotating body without using the change characteristic of the command value. CONSTITUTION:The system is provided with a position detection arithmetic section 22 detecting the rotation position of a motor M, a subtraction section 14 obtaining the position deviation between target rotation position Pr and rotation position Pf, a position control section 16 generating speed command Nr according to position deviation Ep, and a speed control section 24 controlling the driving of the motor M. In this case, it is provided with a difference arithmetic section 18 taking the difference of the rotation position Pf as change amount DELTAP and a code discrimination section 20 discriminating the code of the speed command Nr and the change amount DELTAP and outputting an abnormality detection signal AS by taking the rotation direction of the motor M accompanying the command value and the rotation direction according to the detected rotation position as different ones when both codes are different from each other.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor control device and a rotor abnormality detection device, and more particularly to a motor control device and rotor abnormality detection suitable for detecting an abnormal state in a control system of a rotor such as an electric motor. Regarding the device.

[0002]

2. Description of the Related Art Conventionally, when performing position control of an electric motor, a structure has been adopted in which a deviation between a target position and a detected position of the electric motor is calculated and the position of the electric motor is controlled according to the calculated value. In order to prevent the electric motor from operating abnormally due to a failure of the control system during position control of the electric motor, a method of stopping the drive of the electric motor when an abnormal state of the control system is detected is adopted. ing.
As a method of detecting an abnormality in the control system, there is a method of making an abnormality when the deviation between the target position of the motor and the detected position exceeds a certain value, or a target speed and position obtained by differentiating the target position command value. A method is used in which an abnormality is detected when the difference from the actual command speed calculated from the deviation exceeds a predetermined value.

As a device for detecting an abnormality in these electric motor control systems, those described in, for example, JP-A-59-186001 and JP-A-2-277107 are known.

[0004]

The anomaly detection method in the above prior art is based on CP (Continuous Pat).
h) This is an abnormality detection method that uses a controlled motor as a control target. It is possible to detect an abnormality in the control system that responds to a target position command that changes continuously in succession, but the target position command is stepwise. It is not possible to detect an abnormality in the control system that responds to the changing target position command.

On the other hand, in a control system in which a PTP (Point To Point) controlled electric motor in which the target position command changes stepwise is a control target, the speed changes smoothly until the electric motor approaches the target position. A method of generating a speed pattern as described above and positioning the electric motor according to this speed pattern is often used. In such a PTP control system, since the target position command changes stepwise at the time when the target position command is given,
Both the position deviation and the target position command differential value are very large. When the target position command is input,
Since the target position command is held at a constant value until the next target position command is input, the differential value of the position command corresponding to the target speed becomes zero. Therefore, it is not possible to detect an abnormality in the PTP control system by simply adopting a method of making an abnormality when the deviation between the target position and the detected position exceeds a certain value or a method of differentiating the target position command. .

An object of the present invention is to provide an electric motor control device and an abnormality detection device for a rotating body which can detect an abnormality in a rotating body including an electric motor and a rotating body control system regardless of the change characteristic of a command value. is there.

[0007]

To achieve the above object, the present invention provides, as a first device, a rotational position detecting means for detecting a rotational position of an electric motor, and a target rotational position and a rotational position detecting means for the electric motor. Position deviation calculating means for calculating the deviation from the detected position, speed command generating means for generating a speed command for suppressing the deviation calculated by the position deviation calculating means to zero, and speed detecting means for detecting the speed of the electric motor. A speed deviation generating means for generating a deviation between the detected speed of the speed detecting means and the speed command generated by the speed command generating means, and a drive signal for suppressing the deviation generated by the speed deviation generating means to zero. In an electric motor control device comprising an electric motor drive means for driving the electric motor by this drive signal,
Differential calculating means for differentiating the detection output of the rotational position detecting means to obtain a speed component; code judging means for judging the sign of the calculated value of the differential calculating means and the sign of the speed command value generated by the speed command generating means. A motor control device is provided, which is provided with an abnormal signal output means for monitoring the discrimination result of the code discriminating means and outputting an abnormal signal when the two codes are discriminated as different codes. .

As a second device, a rotational position detecting means for detecting the rotational position of the electric motor, a positional deviation calculating means for calculating a deviation between a target rotational position with respect to the electric motor and a detected position of the rotational position detecting means, and a positional deviation calculation Speed command generating means for generating a speed command for suppressing the deviation calculated by the means to zero, speed detecting means for detecting the speed of the electric motor, speed detected by the speed detecting means and speed command by generating the speed command generating means And a speed deviation generating means for generating a deviation between the speed deviation generating means, and a motor driving means for generating a driving signal for suppressing the deviation generated by the speed deviation generating means to zero and driving the electric motor by the driving signal. In the apparatus, a differential operation means for differentiating a detection output of the rotational position detection means to obtain a speed component, a sign of an operation value of the differential operation means, and the speed command generating hand. When the sign of the speed command value generated by is judged, and the judgment result of the sign judging means is monitored and the signs of both are different, and the judgment result continues for a certain time or longer, an abnormal signal is generated. Is configured to include an abnormality signal output unit that outputs

As a third device, a rotational position detecting means for detecting a rotational position of the electric motor, a positional deviation calculating means for calculating a deviation between a target rotational position with respect to the electric motor and a detected position of the rotational position detecting means, and a positional deviation calculation Speed command generating means for generating a speed command for suppressing the deviation due to the calculation of the means to zero, speed detecting means for detecting the speed of the electric motor, speed command by the speed detecting means and generation of the speed command generating means And a speed deviation generating means for generating a deviation between the speed deviation generating means, and a motor driving means for generating a driving signal for suppressing the deviation generated by the speed deviation generating means to zero and driving the electric motor by the driving signal. In the apparatus, a differential operation means for differentiating the detection output of the rotational position detection means to obtain a speed component, and an absolute value of a calculation result of the position deviation calculation means is a predetermined value. On the condition that the difference is exceeded, a sign discriminating means for discriminating the sign of the calculated value of the differential calculating means and the sign of the speed command value generated by the speed command generating means; The motor control device is configured to include an abnormal signal output unit that outputs an abnormal signal when it is determined that the sign is different.

As a fourth device, a rotational position detecting means for outputting a pulse signal according to the rotational position of the electric motor, and a deviation between the number of pulses indicating a target rotational position with respect to the electric motor and the number of output pulses of the rotational position detecting means are calculated. Position deviation calculating means, speed command generating means for generating a speed command for suppressing the deviation calculated by the position deviation calculating means to zero, speed detecting means for detecting the speed of the electric motor, and detected speed of the speed detecting means. And a speed deviation generating means for generating a deviation from the speed instruction generated by the speed instruction generating means, and a drive signal for suppressing the deviation caused by the speed deviation generating means to zero, and the electric motor is driven by the drive signal. In a motor control device including a motor drive means, a difference calculation means for sequentially measuring the number of output pulses of the rotational position detection means and obtaining a difference between them, When the sign of the calculated value of the calculating means and the sign of the speed command value generated by the speed command generating means are judged, and the judgment result of the sign judging means is monitored to determine that the two signs are different signs. An electric motor control device is characterized in that the electric motor control device is provided with an abnormal signal output means for outputting an abnormal signal.

As a fifth device, a rotational position detecting means for outputting a pulse signal according to the rotational position of the electric motor, and a deviation between the number of pulses indicating a target rotational position with respect to the electric motor and the number of output pulses of the rotational position detecting means are calculated. Position deviation calculating means, speed command generating means for generating a speed command for suppressing the deviation calculated by the position deviation calculating means to zero, speed detecting means for detecting the speed of the electric motor, and detected speed of the speed detecting means. And a speed deviation generating means for generating a deviation from the speed instruction generated by the speed instruction generating means, and a drive signal for suppressing the deviation caused by the speed deviation generating means to zero, and the electric motor is driven by the drive signal. An electric motor control device comprising an electric motor drive means, a difference calculation means for sequentially measuring the number of output pulses of the rotational position detection means, and obtaining a difference between them. A code discriminating means for discriminating between the sign of the calculated value of the calculating means and the sign of the speed command value generated by the speed command generating means, and the judgment result of the sign judging means is monitored to judge that the two signs are different. The electric motor control device is configured to include an abnormal signal output unit that outputs an abnormal signal when the determination result continues for a predetermined time or more.

As a sixth device, a rotational position detecting means for outputting a pulse signal according to the rotational position of the electric motor, and a deviation between the number of pulses indicating a target rotational position with respect to the electric motor and the output pulse number of the rotational position detecting means are calculated. Position deviation calculating means, speed command generating means for generating a speed command for suppressing the deviation calculated by the position deviation calculating means to zero, speed detecting means for detecting the speed of the electric motor, and detected speed of the speed detecting means. And a speed deviation generating means for generating a deviation from the speed instruction generated by the speed instruction generating means, and a drive signal for suppressing the deviation caused by the speed deviation generating means to zero, and the electric motor is driven by the drive signal. An electric motor control device comprising an electric motor drive means, a difference calculation means for sequentially measuring the number of output pulses of the rotational position detection means, and obtaining a difference between them. Code discriminating means for discriminating the sign of the calculated value of the difference calculating means and the sign of the speed command value generated by the speed command generating means on the condition that the absolute value of the calculation result of the position deviation calculating means exceeds a predetermined value. An electric motor control device is provided, which is provided with an abnormal signal output means for monitoring a discrimination result of the code discriminating means and outputting an abnormal signal when the two codes are discriminated to be different from each other.

As a seventh device, a rotational position detecting means for detecting a rotational position of the electric motor, a position deviation calculating means for calculating a deviation between a target rotational position with respect to the electric motor and a detected position of the rotational position detecting means, and a positional deviation calculation. Speed command generating means for generating a speed command for suppressing the deviation calculated by the means to zero, speed detecting means for detecting the speed of the electric motor, speed detected by the speed detecting means and speed command by generating the speed command generating means And a speed deviation generating means for generating a deviation between the speed deviation generating means, and a motor driving means for generating a driving signal for suppressing the deviation generated by the speed deviation generating means to zero and driving the electric motor by the driving signal. In the apparatus, the differential output means for differentiating the detection output of the rotational position detection means to obtain a velocity component, and the calculated value of the position deviation calculation means are equal to or more than a predetermined value other than zero. If the absolute value of the calculation value of the differential calculation means is less than the abnormal set value under the condition that the condition is present, the abnormality determination means outputs an abnormality signal when the abnormality determination result is output from the abnormality determination means. The electric motor control device comprises an abnormal signal output means for outputting.

As an eighth device, a rotational position detecting means for detecting a rotational position of the electric motor, a position deviation calculating means for calculating a deviation between a target rotational position with respect to the electric motor and a detected position of the rotational position detecting means, and a positional deviation calculation. Speed command generating means for generating a speed command for suppressing the deviation calculated by the means to zero, speed detecting means for detecting the speed of the electric motor, speed detected by the speed detecting means and speed command by generating the speed command generating means And a speed deviation generating means for generating a deviation between the speed deviation generating means, and a motor driving means for generating a driving signal for suppressing the deviation generated by the speed deviation generating means to zero and driving the electric motor by the driving signal. In the apparatus, a differential operation means for differentiating a detection output of the rotational position detecting means to obtain a velocity component, and a calculated value of the position deviation calculating means is a predetermined value other than zero. If the absolute value of the calculated value of the differential calculation means continues for a certain period of time or less and is less than or equal to the abnormal setting value, the abnormality determination means outputs the abnormality determination result. An electric motor control device is configured to have an abnormal signal output means for outputting an abnormal signal when the electric motor is turned on.

As a ninth device, a rotational position detecting means for detecting a rotational position of the electric motor, a position deviation calculating means for calculating a deviation between a target rotational position with respect to the electric motor and a detected position of the rotational position detecting means, and a positional deviation calculation. Speed command generating means for generating a speed command for suppressing the deviation calculated by the means to zero, speed detecting means for detecting the speed of the electric motor, speed detected by the speed detecting means and speed command by generating the speed command generating means And a speed deviation generating means for generating a deviation between the speed deviation generating means, and a motor driving means for generating a driving signal for suppressing the deviation generated by the speed deviation generating means to zero and driving the electric motor by the driving signal. In the apparatus, a differential operation means for differentiating a detection output of the rotational position detecting means to obtain a velocity component, and a calculated value of the position deviation calculating means is a predetermined value other than zero. If the absolute value of the calculated value of the differential calculation means is less than or equal to the abnormal set value, the abnormality determination means outputs the abnormality determination result continuously for a fixed time or longer. An electric motor control device is configured to have an abnormal signal output means for outputting an abnormal signal when the electric motor is turned on.

As a tenth device, a rotational position detecting means for outputting a pulse signal corresponding to the rotational position of the electric motor, and a deviation between the number of pulses indicating a target rotational position with respect to the electric motor and the number of output pulses of the rotational position detecting means are calculated. Position deviation calculation means, speed command generation means for generating a speed command for suppressing the deviation calculated by the position deviation calculation means to zero, speed detection means for detecting the speed of the electric motor, and detection speed of the speed detection means. And a speed deviation generating means for generating a deviation between the speed command generated by the speed command generating means, and a drive signal for suppressing the deviation caused by the speed deviation generating means to zero, and the electric motor is driven by the drive signal. In an electric motor control device including an electric motor drive means, difference calculation means for sequentially measuring the number of output pulses of the rotational position detection means and obtaining a difference between them. Abnormality determination means for determining whether or not the absolute value of the operation value of the difference operation means is less than or equal to an abnormal set value, provided that the calculated value of the position deviation calculation means is greater than or equal to a predetermined value other than zero The electric motor control device is configured to include an abnormal signal output unit that outputs an abnormal signal when an abnormality determination result is output from the unit.

As an eleventh device, a rotational position detecting means for outputting a pulse signal according to the rotational position of the electric motor, and a deviation between the number of pulses indicating a target rotational position with respect to the electric motor and the output pulse number of the rotational position detecting means are calculated. Position deviation calculation means, speed command generation means for generating a speed command for suppressing the deviation calculated by the position deviation calculation means to zero, speed detection means for detecting the speed of the electric motor, and detection speed of the speed detection means. And a speed deviation generating means for generating a deviation between the speed command generated by the speed command generating means, and a drive signal for suppressing the deviation caused by the speed deviation generating means to zero, and the electric motor is driven by the drive signal. In an electric motor control device including an electric motor drive means, difference calculation means for sequentially measuring the number of output pulses of the rotational position detection means and obtaining a difference between them. Abnormality that determines whether the absolute value of the calculated value of the difference calculation means continues for a certain period of time or more and is below the abnormal set value, provided that the calculated value of the position deviation calculation means is greater than or equal to a predetermined value other than zero. The electric motor control device is configured to include a determination unit and an abnormality signal output unit that outputs an abnormality signal when an abnormality determination result is output from the abnormality determination unit.

As a twelfth device, a rotational position detecting means for outputting a pulse signal according to the rotational position of the electric motor, and a deviation between the number of pulses indicating a target rotational position with respect to the electric motor and the number of output pulses of the rotational position detecting means are calculated. Position deviation calculation means, speed command generation means for generating a speed command for suppressing the deviation calculated by the position deviation calculation means to zero, speed detection means for detecting the speed of the electric motor, and detection speed of the speed detection means. And a speed deviation generating means for generating a deviation from the speed instruction generated by the speed instruction generating means, and a drive signal for suppressing the deviation caused by the speed deviation generating means to zero, and the electric motor is driven by the drive signal. In an electric motor control device including an electric motor drive means, a difference calculation means for sequentially measuring the number of output pulses of the rotational position detection means and obtaining a difference between them. Abnormality determination means for determining whether or not the absolute value of the calculated value of the difference calculation means is less than or equal to an abnormal set value, provided that the calculated value of the position deviation calculation means is greater than or equal to a predetermined value other than zero The motor control device is configured to include an abnormality signal output unit that outputs an abnormality signal when an abnormality determination result is continuously output for a certain time or longer from the unit.

As a thirteenth device, a rotational position detecting means for detecting a rotational position of the electric motor, a positional deviation calculating means for calculating a deviation between a target rotational position with respect to the electric motor and a detected position of the rotational position detecting means, and a positional deviation calculation Speed command generating means for generating a speed command for suppressing the deviation calculated by the means to zero, speed detecting means for detecting the speed of the electric motor, speed detected by the speed detecting means and speed command by generating the speed command generating means And a speed deviation generating means for generating a deviation between the speed deviation generating means, and a motor driving means for generating a driving signal for suppressing the deviation generated by the speed deviation generating means to zero and driving the electric motor by the driving signal. In the device,
First differential operation means for differentiating a detection output of the rotational position detection means to obtain a speed component, second differential operation means for differentiating an operation value of the first differential operation means to obtain an acceleration component, and the speed command generation Third differential calculation means for differentiating the speed command generated by the means, absolute value deviation calculation means for calculating the absolute value of the deviation between the calculated value of the second differential calculation means and the calculated value of the third differential calculation means, and An abnormality determining means for determining whether or not the calculated value of the value deviation calculating means is equal to or more than an abnormal set value, and an abnormality signal output means for outputting an abnormality signal when the abnormality determination result is output from the abnormality determining means The electric motor control device is configured as follows.

As a fourteenth device, a rotational position detecting means for detecting a rotational position of the electric motor, a positional deviation calculating means for calculating a deviation between a target rotational position with respect to the electric motor and a detected position of the rotational position detecting means, and a positional deviation calculation Speed command generating means for generating a speed command for suppressing the deviation calculated by the means to zero, speed detecting means for detecting the speed of the electric motor, speed detected by the speed detecting means and speed command by generating the speed command generating means And a speed deviation generating means for generating a deviation between the speed deviation generating means, and a motor driving means for generating a driving signal for suppressing the deviation generated by the speed deviation generating means to zero and driving the electric motor by the driving signal. In the device,
First differential operation means for differentiating a detection output of the rotational position detection means to obtain a speed component, second differential operation means for differentiating an operation value of the first differential operation means to obtain an acceleration component, and the speed command generation Third differential calculation means for differentiating the speed command generated by the means, absolute value deviation calculation means for calculating the absolute value of the deviation between the calculated value of the second differential calculation means and the calculated value of the third differential calculation means, and An abnormality determining means for determining whether or not the calculated value of the value deviation calculating means is continuously over the abnormal set value for a certain period of time, and an abnormality signal is output when the abnormality determination result is output from the abnormality determining means. The electric motor control device comprises an abnormality signal output means.

As a fifteenth device, a rotational position detecting means for detecting the rotational position of the electric motor, a positional deviation calculating means for calculating a deviation between a target rotational position with respect to the electric motor and a detected position of the rotational position detecting means, and a positional deviation calculation Speed command generating means for generating a speed command for suppressing the deviation calculated by the means to zero, speed detecting means for detecting the speed of the electric motor, speed detected by the speed detecting means and speed command by generating the speed command generating means And a speed deviation generating means for generating a deviation between the speed deviation generating means, and a motor driving means for generating a driving signal for suppressing the deviation generated by the speed deviation generating means to zero and driving the electric motor by the driving signal. In the device,
First differential operation means for differentiating a detection output of the rotational position detection means to obtain a speed component, second differential operation means for differentiating an operation value of the first differential operation means to obtain an acceleration component, and the speed command generation Third differential calculation means for differentiating the speed command generated by the means, absolute value deviation calculation means for calculating the absolute value of the deviation between the calculated value of the second differential calculation means and the calculated value of the third differential calculation means, and An abnormality determining means for determining whether or not the calculated value of the value deviation calculating means is equal to or greater than the abnormal set value, and an abnormality signal is output when the abnormality determination result is continuously output for a certain period of time or more. The electric motor control device comprises an abnormality signal output means.

As a sixteenth device, a rotational position detecting means for outputting a pulse signal according to the rotational position of the electric motor, and a deviation between the number of pulses indicating a target rotational position with respect to the electric motor and the number of output pulses of the rotational position detecting means are calculated. Position deviation calculating means, speed command generating means for generating a speed command for suppressing the deviation calculated by the position deviation calculating means to zero, speed detecting means for detecting the speed of the electric motor, and detected speed of the speed detecting means. And a speed deviation generating means for generating a deviation from the speed instruction generated by the speed instruction generating means, and a drive signal for suppressing the deviation caused by the speed deviation generating means to zero, and the electric motor is driven by the drive signal. In a motor control device including a motor drive means, a first difference calculation means for sequentially measuring the number of output pulses of the rotational position detection means and obtaining a difference therebetween. , Second difference calculating means for sequentially inputting the calculated values of the first difference calculating means to obtain the difference, and third difference calculating means for sequentially inputting the speed command generated by the speed command generating means to obtain the difference sentence And an absolute value deviation calculating means for calculating the absolute value of the deviation between the calculated value of the second difference calculating means and the calculated value of the third difference calculating means, and the calculated value of the absolute value deviation calculating means is greater than or equal to the abnormal set value. What constitutes an electric motor control device characterized by comprising an abnormality determining means for determining whether or not there is an abnormality, and an abnormality signal outputting means for outputting an abnormality signal when an abnormality determination result is output from the abnormality determining means. Is.

As a seventeenth device, a rotational position detecting means for outputting a pulse signal according to the rotational position of the electric motor, and a deviation between the number of pulses indicating a target rotational position with respect to the electric motor and the output pulse number of the rotational position detecting means are calculated. Position deviation calculating means, speed command generating means for generating a speed command for suppressing the deviation calculated by the position deviation calculating means to zero, speed detecting means for detecting the speed of the electric motor, and detected speed of the speed detecting means. And a speed deviation generating means for generating a deviation from the speed instruction generated by the speed instruction generating means, and a drive signal for suppressing the deviation caused by the speed deviation generating means to zero, and the electric motor is driven by the drive signal. In a motor control device including a motor driving means, a first difference calculating means for sequentially measuring the number of output pulses of the rotational position detecting means and obtaining a difference therebetween. , Second difference calculating means for sequentially inputting the calculated values of the first difference calculating means to obtain the difference, and third difference calculating means for sequentially inputting the speed command generated by the speed command generating means to obtain the difference sentence And an absolute value deviation calculating means for calculating an absolute value of a deviation between a calculated value of the second difference calculating means and a calculated value of the third difference calculating means, and a calculated value of the absolute value deviation calculating means continues for a predetermined time or more. An electric motor comprising: an abnormality determination means for determining whether or not the abnormality is greater than or equal to an abnormality set value; and an abnormality signal output means for outputting an abnormality signal when an abnormality determination result is output from the abnormality determination means. The control device is configured.

As an eighteenth device, a rotational position detecting means for outputting a pulse signal corresponding to the rotational position of the electric motor, and a deviation between the number of pulses indicating a target rotational position with respect to the electric motor and the number of output pulses of the rotational position detecting means are calculated. Position deviation calculating means, speed command generating means for generating a speed command for suppressing the deviation calculated by the position deviation calculating means to zero, speed detecting means for detecting the speed of the electric motor, and detected speed of the speed detecting means. And a speed deviation generating means for generating a deviation from the speed instruction generated by the speed instruction generating means, and a drive signal for suppressing the deviation caused by the speed deviation generating means to zero, and the electric motor is driven by the drive signal. In a motor control device including a motor drive means, a first difference calculation means for sequentially measuring the number of output pulses of the rotational position detection means and obtaining a difference therebetween. , Second difference calculating means for sequentially inputting the calculated values of the first difference calculating means to obtain the difference, and third difference calculating means for sequentially inputting the speed command generated by the speed command generating means to obtain the difference sentence And an absolute value deviation calculating means for calculating the absolute value of the deviation between the calculated value of the second difference calculating means and the calculated value of the third difference calculating means, and the calculated value of the absolute value deviation calculating means is greater than or equal to the abnormal set value. An electric motor comprising: an abnormality determination means for determining whether or not the abnormality determination means and an abnormality signal output means for outputting an abnormality signal when the abnormality determination result is continuously output for a predetermined time or longer. The control device is configured.

As a nineteenth device, a rotational position detecting means for detecting a rotational position of the electric motor, a position deviation calculating means for calculating a deviation between a target rotational position with respect to the electric motor and a detected position of the rotational position detecting means, and a positional deviation calculation Speed command generating means for generating a speed command for suppressing the deviation calculated by the means to zero, speed detecting means for detecting the speed of the electric motor, speed detected by the speed detecting means and speed command by generating the speed command generating means And a speed deviation generating means for generating a deviation between the speed deviation generating means, and a motor driving means for generating a driving signal for suppressing the deviation generated by the speed deviation generating means to zero and driving the electric motor by the driving signal. In the device,
First differential operation means for differentiating a detection output of the rotational position detection means to obtain a speed component, second differential operation means for differentiating an operation value of the first differential operation means to obtain an acceleration component, and the speed command generation Abnormal value setting means for setting an abnormal value of the acceleration component according to the speed command generated by the means, and an absolute value for calculating the absolute value of the deviation between the calculated value of the second differential calculation means and the set value of the abnormal value setting means. The deviation calculating means, the abnormality judging means for judging whether the calculated value of the absolute value deviation calculating means is equal to or more than the abnormal set value, and the abnormality signal is outputted when the abnormality judging result is outputted from the abnormality judging means. The electric motor control device comprises an abnormality signal output means.

As a twentieth device, a rotational position detecting means for detecting a rotational position of the electric motor, a position deviation calculating means for calculating a deviation between a target rotational position with respect to the electric motor and a detected position of the rotational position detecting means, and a positional deviation calculation Speed command generating means for generating a speed command for suppressing the deviation calculated by the means to zero, speed detecting means for detecting the speed of the electric motor, speed detected by the speed detecting means and speed command by generating the speed command generating means And a speed deviation generating means for generating a deviation between the speed deviation generating means, and a motor driving means for generating a driving signal for suppressing the deviation generated by the speed deviation generating means to zero and driving the electric motor by the driving signal. In the device,
First differential operation means for differentiating a detection output of the rotational position detection means to obtain a speed component, second differential operation means for differentiating an operation value of the first differential operation means to obtain an acceleration component, and the speed command generation Abnormal value setting means for setting an abnormal value of the acceleration component according to the speed command generated by the means, and an absolute value for calculating the absolute value of the deviation between the calculated value of the second differential calculation means and the set value of the abnormal value setting means. The deviation calculating means, the abnormality judging means for judging whether or not the calculated value of the absolute value deviation calculating means continues for a certain period of time or more and is equal to or more than the abnormal set value, and the abnormality judgment result is outputted from the abnormality judging means. The electric motor control device comprises an abnormal signal output means for outputting an abnormal signal at times.

As a twenty-first device, a rotational position detecting means for detecting a rotational position of the electric motor, a positional deviation calculating means for calculating a deviation between a target rotational position with respect to the electric motor and a detected position of the rotational position detecting means, and a positional deviation calculation Speed command generating means for generating a speed command for suppressing the deviation calculated by the means to zero, speed detecting means for detecting the speed of the electric motor, speed detected by the speed detecting means and speed command by generating the speed command generating means And a speed deviation generating means for generating a deviation between the speed deviation generating means, and a motor driving means for generating a driving signal for suppressing the deviation generated by the speed deviation generating means to zero and driving the electric motor by the driving signal. In the device,
First differential operation means for differentiating a detection output of the rotational position detection means to obtain a speed component, second differential operation means for differentiating an operation value of the first differential operation means to obtain an acceleration component, and the speed command generation Abnormal value setting means for setting an abnormal value of the acceleration component according to the speed command generated by the means, and an absolute value for calculating the absolute value of the deviation between the calculated value of the second differential calculation means and the set value of the abnormal value setting means. When the deviation calculation means, the abnormality determination means that determines whether or not the calculated value of the absolute value deviation calculation means is equal to or greater than the abnormality setting value, and the abnormality determination result is continuously output from the abnormality determination means for a certain period of time or more An electric motor control device is characterized in that the electric motor control device is provided with an abnormal signal output means for outputting an abnormal signal.

As a twenty-second device, a rotational position detecting means for outputting a pulse signal according to the rotational position of the electric motor, and a deviation between the number of pulses indicating a target rotational position with respect to the electric motor and the output pulse number of the rotational position detecting means are calculated. Position deviation calculating means, speed command generating means for generating a speed command for suppressing the deviation calculated by the position deviation calculating means to zero, speed detecting means for detecting the speed of the electric motor, and detected speed of the speed detecting means. And a speed deviation generating means for generating a deviation from the speed instruction generated by the speed instruction generating means, and a drive signal for suppressing the deviation caused by the speed deviation generating means to zero, and the electric motor is driven by the drive signal. In a motor control device including a motor drive means, a first difference calculation means for sequentially measuring the number of output pulses of the rotational position detection means and obtaining a difference therebetween. , A second difference calculating means for sequentially inputting the calculated values of the first difference calculating means to obtain the difference, and an abnormal value setting means for setting an abnormal value of the acceleration component according to the speed command generated by the speed command generating means. And the absolute value deviation calculating means for calculating the absolute value of the deviation between the calculated value of the second difference calculating means and the setting value of the abnormal value setting means, and whether the calculated value of the absolute value deviation calculating means is greater than or equal to the abnormal setting value. A configuration of a motor control device comprising: an abnormality determining means for determining whether or not the abnormality determination means outputs an abnormality signal when an abnormality determination result is output from the abnormality determining means. is there.

As a twenty-third device, a rotational position detecting means for outputting a pulse signal corresponding to the rotational position of the electric motor, and a deviation between the number of pulses indicating a target rotational position with respect to the electric motor and the output pulse number of the rotational position detecting means are calculated. Position deviation calculating means, speed command generating means for generating a speed command for suppressing the deviation calculated by the position deviation calculating means to zero, speed detecting means for detecting the speed of the electric motor, and detected speed of the speed detecting means. And a speed deviation generating means for generating a deviation from the speed instruction generated by the speed instruction generating means, and a drive signal for suppressing the deviation caused by the speed deviation generating means to zero, and the electric motor is driven by the drive signal. In a motor control device including a motor drive means, a first difference calculation means for sequentially measuring the number of output pulses of the rotational position detection means and obtaining a difference therebetween. , A second difference calculating means for sequentially inputting the calculated values of the first difference calculating means to obtain the difference, and an abnormal value setting means for setting an abnormal value of the acceleration component according to the speed command generated by the speed command generating means. And an absolute value deviation calculating means for calculating the absolute value of the deviation between the calculated value of the second difference calculating means and the set value of the abnormal value setting means, and the calculated value of the absolute value deviation calculating means is abnormal for a certain period of time or longer. Motor control comprising: an abnormality determination means for determining whether the value is equal to or more than a set value; and an abnormality signal output means for outputting an abnormality signal when an abnormality determination result is output from the abnormality determination means. The device is configured.

As a twenty-fourth device, a rotational position detecting means for outputting a pulse signal corresponding to the rotational position of the electric motor, and a deviation between the number of pulses indicating a target rotational position with respect to the electric motor and the output pulse number of the rotational position detecting means are calculated. Position deviation calculation means, speed command generation means for generating a speed command for suppressing the deviation calculated by the position deviation calculation means to zero, speed detection means for detecting the speed of the electric motor, and detection speed of the speed detection means. And a speed deviation generating means for generating a deviation between the speed command generated by the speed command generating means, and a drive signal for suppressing the deviation caused by the speed deviation generating means to zero, and the electric motor is driven by the drive signal. In a motor control device including a motor drive means, a first difference calculation means for sequentially measuring the number of output pulses of the rotational position detection means and obtaining a difference therebetween. , A second difference calculating means for sequentially inputting the calculated values of the first difference calculating means to obtain the difference, and an abnormal value setting means for setting an abnormal value of the acceleration component according to the speed command generated by the speed command generating means. And the absolute value deviation calculating means for calculating the absolute value of the deviation between the calculated value of the second difference calculating means and the setting value of the abnormal value setting means, and whether the calculated value of the absolute value deviation calculating means is greater than or equal to the abnormal setting value. An electric motor control comprising: an abnormality determination means for determining whether or not the abnormality determination means and an abnormality signal output means for outputting an abnormality signal when the abnormality determination result is continuously output for a predetermined time or longer. The device is configured.

As a twenty-fifth apparatus, a rotational position detecting means for detecting the rotational position of the rotating body, a position deviation calculating means for calculating a deviation between a target rotational position with respect to the rotating body and a detected position of the rotational position detecting means, and a position The speed command generating means for generating a speed command for suppressing the deviation calculated by the deviation calculating means to zero, the differential calculating means for differentiating the detection output of the rotational position detecting means to obtain the speed component, and the differential calculating means A sign discriminating means for discriminating the sign of the calculated value and the sign of the speed command value generated by the speed command generating means, and the judgment result of the sign judging means is monitored to detect an abnormal signal when both signs are different. This is a structure of an abnormality detecting device for a rotating body, which is provided with an abnormality signal output means for outputting.

As a twenty-sixth apparatus, a rotational position detecting means for detecting the rotational position of the rotating body, a position deviation calculating means for calculating a deviation between a target rotational position with respect to the rotating body and a detected position of the rotational position detecting means, and a position The speed command generating means for generating a speed command for suppressing the deviation calculated by the deviation calculating means to zero, the differential calculating means for differentiating the detection output of the rotational position detecting means to obtain the speed component, and the differential calculating means A code discriminating means for discriminating the sign of the calculated value and the sign of the speed command value generated by the speed command generating means, and the discrimination result of the code discriminating means is monitored to discriminate both codes, and the discrimination result is An abnormality detection device for a rotating body is provided, which is provided with an abnormality signal output unit that outputs an abnormality signal when the rotation is continued for a certain time or longer.

As a twenty-seventh device, a rotational position detecting means for detecting a rotational position of the rotating body, a position deviation calculating means for calculating a deviation between a target rotational position with respect to the rotating body and a detected position of the rotational position detecting means, and a position Speed command generation means for generating a speed command for suppressing the deviation calculated by the deviation calculation means to zero, differential calculation means for differentiating the detection output of the rotational position detection means to obtain a speed component, and the position deviation calculation Code determining means for determining the sign of the calculated value of the differential calculating means and the sign of the speed command value generated by the speed command generating means on condition that the absolute value of the calculation result of the means exceeds a predetermined value,
An abnormality detecting device for a rotating body is provided, which is provided with abnormality signal output means for monitoring a discrimination result of the code discriminating means and outputting an abnormal signal when the two codes are discriminated to be different from each other.

As a twenty-eighth device, a rotational position detecting means for outputting a pulse signal according to the rotational position of the rotating body, and a deviation between the number of pulses indicating a target rotational position with respect to the rotating body and the number of output pulses of the rotating position detecting means. Position deviation calculation means, a speed command generation means for generating a speed command for suppressing the deviation calculated by the position deviation calculation means to zero, and the number of output pulses of the rotational position detection means are sequentially measured. Difference calculating means for obtaining a difference, code judging means for judging the sign of the calculated value of the difference calculating means and the sign of the speed command value generated by the speed command generating means, and the judgment result of the sign judging means are monitored. An abnormality detection device for a rotating body is provided, which is provided with an abnormality signal output unit that outputs an abnormality signal when a code is determined to be a different code.

As a twenty-ninth device, a rotational position detecting means for outputting a pulse signal according to the rotational position of the rotating body, and a deviation between the number of pulses indicating a target rotational position with respect to the rotating body and the number of output pulses of the rotating position detecting means. Position deviation calculation means, a speed command generation means for generating a speed command for suppressing the deviation calculated by the position deviation calculation means to zero, and the number of output pulses of the rotational position detection means are sequentially measured. Difference calculating means for obtaining a difference, code judging means for judging the sign of the calculated value of the difference calculating means and the sign of the speed command value generated by the speed command generating means, and the judgment result of the sign judging means for monitoring both An abnormality detection device for a rotating body is provided, which is provided with an abnormality signal output unit that outputs an abnormality signal when the code is determined to be a different code and the determination result continues for a certain time or more. .

As a thirtieth device, a rotational position detecting means for outputting a pulse signal according to the rotational position of the rotating body, and a deviation between the number of pulses indicating a target rotational position with respect to the rotating body and the number of output pulses of the rotating position detecting means. Position deviation calculation means, a speed command generation means for generating a speed command for suppressing the deviation calculated by the position deviation calculation means to zero, and the number of output pulses of the rotational position detection means are sequentially measured. Difference calculation means for obtaining a difference, and the sign of the calculation value of the difference calculation means and the speed command value generated by the speed command generation means on condition that the absolute value of the calculation result of the position deviation calculation means exceeds a predetermined value. A rotating body having a code discriminating means for discriminating a code and an abnormal signal outputting means for monitoring a discrimination result of the code discriminating means and outputting an abnormal signal when the two codes are discriminated as different codes. It is obtained by constituting the normal detector.

As a thirty-first device, a rotational position detecting means for detecting a rotational position of the rotating body, a position deviation calculating means for calculating a deviation between a target rotational position with respect to the rotating body and a detected position of the rotating position detecting means, and a position Speed command generation means for generating a speed command for suppressing the deviation calculated by the deviation calculation means to zero, differential calculation means for differentiating the detection output of the rotational position detection means to obtain a speed component, and the position deviation calculation The abnormality determination means for determining whether or not the absolute value of the calculated value of the differential calculation means is less than or equal to the abnormal set value on the condition that the calculated value of the means is greater than or equal to a predetermined value other than zero, and An abnormality detection device for a rotating body is provided, which is provided with an abnormality signal output unit that outputs an abnormality signal when a determination result is output.

The thirty-second device includes a rotational position detecting means for detecting the rotational position of the rotating body, a position deviation calculating means for calculating a deviation between a target rotational position with respect to the rotating body and a detected position of the rotational position detecting means, and a position. Speed command generation means for generating a speed command for suppressing the deviation calculated by the deviation calculation means to zero, differential calculation means for differentiating the detection output of the rotational position detection means to obtain a speed component, and the position deviation calculation An abnormality determining means for determining whether or not the absolute value of the calculated value of the differential calculating means continues for a fixed time or more and is below the abnormal set value on condition that the calculated value of the means is equal to or more than a predetermined value other than zero;
The abnormality detecting device for a rotating body includes an abnormality signal output unit that outputs an abnormality signal when an abnormality determination result is output from the abnormality determining unit.

The thirty-third apparatus includes a rotational position detecting means for detecting a rotational position of the rotating body, a position deviation calculating means for calculating a deviation between a target rotational position with respect to the rotating body and a detected position of the rotational position detecting means, and a position. Speed command generation means for generating a speed command for suppressing the deviation calculated by the deviation calculation means to zero, differential calculation means for differentiating the detection output of the rotational position detection means to obtain a speed component, and the position deviation calculation The abnormality determination means for determining whether or not the absolute value of the calculated value of the differential calculation means is less than or equal to the abnormal set value on the condition that the calculated value of the means is greater than or equal to a predetermined value other than zero, and An abnormality detection device for a rotating body is provided, which is provided with an abnormality signal output unit that outputs an abnormality signal when a determination result is continuously output for a certain period of time or longer.

As a thirty-fourth device, a rotational position detecting means for outputting a pulse signal corresponding to the rotational position of the rotating body, and a deviation between the number of pulses indicating a target rotational position with respect to the rotating body and the number of output pulses of the rotating position detecting means. Position deviation calculation means, a speed command generation means for generating a speed command for suppressing the deviation calculated by the position deviation calculation means to zero, and the number of output pulses of the rotational position detection means are sequentially measured. Difference calculating means for obtaining a difference and whether or not the absolute value of the calculated value of the difference calculating means is less than or equal to an abnormal set value on condition that the calculated value of the position deviation calculating means is greater than or equal to a predetermined value other than zero And an abnormality signal output unit that outputs an abnormality signal when an abnormality determination result is output from the abnormality determination unit.

As a thirty-fifth device, a rotational position detecting means for outputting a pulse signal according to the rotational position of the rotating body, and a deviation between the number of pulses indicating a target rotational position with respect to the rotating body and the number of output pulses of the rotating position detecting means. Position deviation calculation means, a speed command generation means for generating a speed command for suppressing the deviation calculated by the position deviation calculation means to zero, and the number of output pulses of the rotational position detection means are sequentially measured. The absolute value of the calculated value of the difference calculating means continues to be equal to or less than the abnormal set value for a certain period of time under the condition that the difference calculating means for obtaining the difference and the calculated value of the position deviation calculating means are equal to or more than a predetermined value other than zero. An abnormality detection device for a rotating body is provided, which includes an abnormality determination unit that determines whether or not there is an abnormality determination unit, and an abnormality signal output unit that outputs an abnormality signal when an abnormality determination result is output from the abnormality determination unit. It is intended.

As a thirty-sixth device, a rotational position detecting means for outputting a pulse signal according to the rotational position of the rotating body, and a deviation between the number of pulses indicating a target rotational position with respect to the rotating body and the number of output pulses of the rotating position detecting means. Position deviation calculation means, a speed command generation means for generating a speed command for suppressing the deviation calculated by the position deviation calculation means to zero, and the number of output pulses of the rotational position detection means are sequentially measured. Difference calculating means for obtaining a difference and whether or not the absolute value of the calculated value of the difference calculating means is less than or equal to an abnormal set value on condition that the calculated value of the position deviation calculating means is greater than or equal to a predetermined value other than zero And an abnormality signal output unit that outputs an abnormality signal when an abnormality determination result is continuously output from the abnormality determination unit for a certain period of time or more. It is intended.

As a thirty-seventh apparatus, a rotational position detecting means for detecting a rotational position of the rotating body, a position deviation calculating means for calculating a deviation between a target rotational position with respect to the rotating body and a detected position of the rotational position detecting means, and a position Speed command generating means for generating a speed command for suppressing the deviation calculated by the deviation calculating means to zero; first differential calculating means for differentiating a detection output of the rotational position detecting means to obtain a speed component; Second differential calculation means for differentiating the calculated value of the differential calculation means to obtain an acceleration component, third differential calculation means for differentiating the speed command generated by the speed command generation means, and calculated value of the second differential calculation means From the deviation calculating means for calculating the absolute value of the deviation from the calculated value of the third differential calculating means, the abnormality judging means for judging whether the calculated value of the deviation calculating means is greater than or equal to the abnormal set value, and the abnormality judging means. Abnormal Is obtained by constituting the abnormality detecting device of a rotary body is provided with an abnormality signal output means for outputting an abnormality signal when the constant result is output.

As a thirty-eighth device, a rotational position detecting means for detecting a rotational position of the rotating body, a position deviation calculating means for calculating a deviation between a target rotational position with respect to the rotating body and a detected position of the rotational position detecting means, and a position Speed command generating means for generating a speed command for suppressing the deviation calculated by the deviation calculating means to zero; first differential calculating means for differentiating a detection output of the rotational position detecting means to obtain a speed component; Second differential calculation means for differentiating the calculated value of the differential calculation means to obtain an acceleration component, third differential calculation means for differentiating the speed command generated by the speed command generation means, and calculated value of the second differential calculation means Absolute value deviation calculation means for calculating the absolute value of the deviation from the calculated value of the third differential calculation means, and it is determined whether the calculated value of the absolute value deviation calculation means is continuously above the abnormal set value for a certain period of time or longer. Abnormal judgment Means and is obtained by constituting the abnormality detecting device of a rotary body abnormality determination means from the abnormality determination result has an abnormal signal outputting means for outputting an abnormality signal when it is output.

As a thirty-ninth device, a rotational position detecting means for detecting a rotational position of the rotating body, a position deviation calculating means for calculating a deviation between a target rotational position with respect to the rotating body and a detected position of the rotational position detecting means, and a position Speed command generating means for generating a speed command for suppressing the deviation calculated by the deviation calculating means to zero; first differential calculating means for differentiating a detection output of the rotational position detecting means to obtain a speed component; Second differential calculation means for differentiating the calculated value of the differential calculation means to obtain an acceleration component, third differential calculation means for differentiating the speed command generated by the speed command generation means, and calculated value of the second differential calculation means An absolute value deviation calculating means for calculating an absolute value of a deviation from a calculated value of the third differential calculating means, and an abnormality determining means for determining whether or not the calculated value of the absolute value deviation calculating means is equal to or more than an abnormal set value. Abnormality judgment hand Abnormality determination result from is obtained by constituting the abnormality detecting device of a rotary body is provided with an abnormality signal output means for outputting an abnormality signal when it is continued to output a predetermined time or more.

As a fortieth device, a rotational position detecting means for outputting a pulse signal corresponding to the rotational position of the rotating body, and a deviation between the number of pulses indicating a target rotational position with respect to the rotating body and the number of output pulses of the rotating position detecting means. Position deviation calculation means, a speed command generation means for generating a speed command for suppressing the deviation calculated by the position deviation calculation means to zero, and the number of output pulses of the rotational position detection means are sequentially measured. A first difference calculating means for obtaining a difference, a second difference calculating means for sequentially inputting the calculated values of the first difference calculating means and a difference thereof, and a speed command generated by the speed command generating means are sequentially inputted and The third difference calculation means for obtaining the difference sentence, the absolute value deviation calculation means for calculating the absolute value of the deviation between the calculation value of the second difference calculation means and the calculation value of the third difference calculation means, and the absolute value deviation calculation means Calculation Abnormality detection means for determining whether or not is greater than or equal to the abnormality set value, and abnormality signal output means for outputting an abnormality signal when the abnormality determination result is output from the abnormality determination means The device is configured.

As a forty-first device, a rotational position detecting means for outputting a pulse signal according to the rotational position of the rotating body, and a deviation between the number of pulses indicating a target rotational position with respect to the rotating body and the number of output pulses of the rotating position detecting means. Position deviation calculation means, a speed command generation means for generating a speed command for suppressing the deviation calculated by the position deviation calculation means to zero, and the number of output pulses of the rotational position detection means are sequentially measured. A first difference calculating means for obtaining a difference, a second difference calculating means for sequentially inputting operation values of the first difference calculating means and obtaining a difference thereof, and a speed command generated by the speed command generating means are sequentially input, and The third difference calculating means for obtaining the difference sentence, the absolute value deviation calculating means for calculating the absolute value of the deviation between the calculated value of the second difference calculating means and the calculated value of the third difference calculating means, and the absolute value deviation calculating means Calculation Is provided with an abnormality determining means for determining whether or not the value is continuously equal to or more than an abnormal set value for a certain period of time, and an abnormality signal output means for outputting an abnormality signal when the abnormality determination result is output from the abnormality determining means. This is a configuration of a rotating body abnormality detection device.

As the forty-second device, a rotational position detecting means for outputting a pulse signal according to the rotational position of the rotating body, and a deviation between the number of pulses indicating a target rotational position with respect to the rotating body and the number of output pulses of the rotating position detecting means. Position deviation calculation means, a speed command generation means for generating a speed command for suppressing the deviation calculated by the position deviation calculation means to zero, and the number of output pulses of the rotational position detection means are sequentially measured. A first difference calculating means for obtaining a difference, a second difference calculating means for sequentially inputting the calculated values of the first difference calculating means and a difference thereof, and a speed command generated by the speed command generating means are sequentially inputted and Third difference calculating means for obtaining a difference, absolute value deviation calculating means for calculating an absolute value of a deviation between the calculated value of the second difference calculating means and the calculated value of the third difference calculating means, and calculation of the absolute value deviation calculating means Is provided with an abnormality determination means for determining whether or not is greater than or equal to the abnormality set value, and an abnormality signal output means for outputting an abnormality signal when the abnormality determination result is continuously output for a certain period of time or more from the abnormality determination means. This is a configuration of a rotating body abnormality detection device.

As a forty-third apparatus, a rotational position detecting means for detecting a rotational position of the rotating body, a position deviation calculating means for calculating a deviation between a target rotational position with respect to the rotating body and a detected position of the rotational position detecting means, and a position Speed command generating means for generating a speed command for suppressing the deviation calculated by the deviation calculating means to zero; first differential calculating means for differentiating a detection output of the rotational position detecting means to obtain a speed component; Second differential calculation means for differentiating the calculated value of the differential calculation means to obtain an acceleration component; abnormal value setting means for setting an abnormal value of the acceleration component according to the speed command generated by the speed command generation means; Absolute value deviation calculation means for calculating the absolute value of the deviation between the calculated value of the differential calculation means and the set value of the abnormal value setting means,
An abnormality determining means for determining whether or not the calculated value of the absolute value deviation calculating means is equal to or more than an abnormal setting value, and an abnormality signal output means for outputting an abnormality signal when the abnormality determination result is output from the abnormality determining means. This is a configuration of a rotating body abnormality detection device provided.

As a forty-fourth apparatus, a rotational position detecting means for detecting a rotational position of the rotating body, a position deviation calculating means for calculating a deviation between a target rotational position with respect to the rotating body and a detected position of the rotational position detecting means, and a position Speed command generating means for generating a speed command for suppressing the deviation calculated by the deviation calculating means to zero; first differential calculating means for differentiating the detection output of the rotational position detecting means to obtain a speed component; Second differential calculating means for differentiating the calculated value of the differential calculating means to obtain an acceleration component; abnormal value setting means for setting an abnormal value of the acceleration component according to the speed command generated by the speed command generating means; Absolute value deviation calculation means for calculating the absolute value of the deviation between the calculated value of the differential calculation means and the set value of the abnormal value setting means,
An abnormality determining means for determining whether or not the calculated value of the absolute value deviation calculating means is continuously above the abnormal set value for a certain period of time,
The abnormality detecting device for a rotating body includes an abnormality signal output unit that outputs an abnormality signal when an abnormality determination result is output from the abnormality determining unit.

As a forty-fifth device, a rotational position detecting means for outputting a pulse signal according to the rotational position of the rotating body, and a deviation between the number of pulses indicating a target rotational position with respect to the rotating body and the number of output pulses of the rotating position detecting means. Position deviation calculation means, a speed command generation means for generating a speed command for suppressing the deviation calculated by the position deviation calculation means to zero, and the number of output pulses of the rotational position detection means are sequentially measured. A first difference calculating means for obtaining a difference, a second difference calculating means for sequentially inputting calculated values of the first difference calculating means to obtain the difference, and an acceleration component of an acceleration component according to a speed command generated by the speed command generating means. An abnormal value setting means for setting an abnormal value, an absolute value deviation calculating means for calculating an absolute value of a deviation between a calculated value of the second difference calculating means and a set value of the abnormal value setting means, and an absolute value deviation calculating means Abnormality of the rotating body provided with abnormality determination means for determining whether the value is equal to or greater than the abnormal set value and abnormality signal output means for outputting an abnormality signal when the abnormality determination result is output from the abnormality determination means The detection device is configured.

[0052]

According to the above-mentioned means, the rotational position of the rotating body including the electric motor is detected by the rotational position detecting means including the encoder. When the rotational position detecting means is constituted by an analog system, a differential value corresponding to the speed can be obtained by differentiating the detected value of the rotational position detecting means. On the other hand, when the rotational position detecting means is constituted by a digital system, when the difference between the detected values of the rotational position detecting means is obtained in accordance with the control cycle, this difference value becomes a value corresponding to the speed.
Then, the rotation direction of the rotating body can be determined by the sign of the differential value or the difference value. For example, the sign of the differential value is positive when the electric motor is rotating forward, and the sign of the differential value is negative when the electric motor is rotating backward. The sign of the speed command generated from the position deviation indicating the deviation between the target rotational position and the detected position is determined by the rotating direction of the electric motor. Therefore, the difference between the sign of the differential value or the difference value and the sign of the speed command means that the rotation direction of the electric motor is opposite to the command value, and the sign of the two is different, and the electric motor and the rotation Can detect abnormalities in the body.

When the electric motor or the rotating body is at the target position, the position deviation becomes zero, but at other times, the position deviation becomes a value other than zero. Therefore, the position detection value of the electric motor is differentiated on the condition that the position deviation is equal to or larger than a certain value, and when the differential value is zero, the rotation of the electric motor is stopped. Therefore, when the position deviation is a constant value, when the value obtained by differentiating the position detection value is an abnormal set value as the abnormal set value, for example, when it becomes zero, the control system is abnormal or the electric motor is an obstacle. A collision can be detected.

Further, the command acceleration can be obtained by differentiating the speed command value, and the motor acceleration can be detected by obtaining the second-order differential value of the position detection value. This command acceleration is compared with the detected motor acceleration, and if the difference exceeds a certain value calculated from the response of the speed control system, the speed control system cannot follow the command speed or the load applied to the motor is suddenly increased. It means that it changed to. Therefore, the abnormal operation of the speed control system or the mechanical load can be detected on condition that the difference between the commanded acceleration and the acceleration of the electric motor exceeds a certain value.

Further, the value of the motor acceleration obtained by the second derivative of the rotational position is compared with the abnormal set value, and if the value of the motor acceleration exceeds the abnormal set value, the load applied to the motor is rapidly increased. It is possible to detect a load abnormality such as a large fluctuation.

[0056]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows an embodiment in which an electric motor is used as a rotating body and the present invention is applied to a positioning control system of this electric motor. In FIG. 1, a controller 10 that controls the positioning of the electric motor M is composed of a position control system and a speed control system, and a mechanical load 12 is applied to the output shaft of the electric motor M.
Are connected and an encoder E is provided. When a moving body such as a robot is used as the mechanical load 12, the output shaft of the electric motor M is connected to the robot through a ball screw, and the encoder E determines the rotation speed of the ball screw accompanying the rotational driving of the electric motor M. It is supposed to be detected. That is, the encoder E
Is configured as speed detecting means for detecting the rotational speed of the electric motor M, and the encoder E outputs a pulse signal corresponding to the rotational position of the electric motor M, that is, the moving distance of the moving body.

The controller 10 comprises a subtracting section 14, a position control section 16, a difference calculating section 18, a code discriminating section 20, a position detecting calculating section 22, a speed control section 24 and a display section 26. The output pulse of the encoder E is the speed control unit 2
4 and the position detection calculation unit 22. Subtraction unit 1
4, position control unit 16, difference calculation unit 18, code determination unit 2
0, the position control system including the position detection calculation unit 22 is composed of a microcomputer, and various calculations are performed in the position control system based on digital signals.
Therefore, when the pulse signal from the encoder E is input to the position detection calculation unit 22, the position detection calculation unit 22 counts the pulse signals from the encoder E and outputs the pulse signal indicating the rotational position Pf of the electric motor M. It is like this. That is, the encoder E and the position detection calculation unit 22 are configured as a rotational position detection means. The output pulse of the position detection calculation unit 22 is input to the subtraction unit 14 and the operation calculation unit 18. The subtraction unit 14 includes a target rotational position P of the electric motor M.
The pulse signal indicating r and the pulse signal from the position detection calculation unit 22 are input. Then, the subtracting unit 14 is configured as a position deviation calculating unit that outputs a pulse signal according to the deviation between the target rotational position Pr and the detected rotational position Pf to the position control unit 16. For example, as shown in FIG. 2, when a step-like target rotation position command is input as the target rotation position Pr, the target rotation position Pr and the detected rotation position Pf are input.
A signal corresponding to the deviation between the and is input to the position control unit 16. Then, the position control unit 16 uses the subtraction unit 14
Is configured as speed command generation means for receiving the position deviation Ep from the position deviation Ep and generating a speed command Nr for suppressing the position deviation Ep to zero. This speed command Nr is sent to the speed control unit 2
4 is input to the code discriminating unit 20, and the speed control unit 24
Is configured to control the speed of the electric motor M according to the speed command Nr. That is, the speed control section 24 generates a speed deviation generating means for generating a deviation between the speed command Nr and the output signal of the encoder E, and a drive signal for suppressing the deviation caused by the speed deviation generating means to zero. It is configured to include an electric motor driving unit that drives the electric motor M by a drive signal.

On the other hand, the pulse signal indicating the rotational position Pf from the position detection calculation unit 22 is input to the difference calculation unit 18, and the difference calculation unit 18 sequentially measures the pulse number of the input pulse according to the control cycle, and It is configured as a difference calculation means for obtaining a change amount ΔP which is a difference. This change amount Δ
P is obtained as a value corresponding to the speed of the electric motor M, and this change amount ΔP is input to the code determination unit 20. The code determination unit 20 inputs the speed command Nr and the variation ΔP,
A code discriminating means for discriminating whether the code Sr of the speed command Nr and the code Sf of the change amount P are positive or negative is provided, and the discrimination result of the code discriminating means is monitored so that the two codes are different. Abnormal signal AS when it is determined to be a code
Is configured to include an abnormal signal output means for outputting.
The abnormality signal AS is input to the speed control unit 24 and the display unit 26. When the abnormality signal AS is input to the speed control unit 24, the driving of the electric motor M is stopped and the abnormality signal AS is input to the display unit 26. In this case, the display screen of the display unit 26 displays an image indicating that an abnormality has occurred in the control system.

Next, the operation of this embodiment will be described with reference to the flow chart shown in FIG. First, when PTP control of the electric motor M is performed, when the target rotation position command Pr in which the command value changes stepwise is input to the subtraction unit 14 in response to the activation of the controller 10, the target rotation position command Pr is accompanied by the rotation of the electric motor M. The rotational position is calculated by the position detection calculation unit 22 (step 100). When the rotational position Pf is detected, a positional deviation Ep between the rotational position Pf and the target rotational position Pr is obtained, and a speed command Nr corresponding to the positional deviation Ep is generated (step 101). The speed command Nr is generated according to a speed pattern for driving the electric motor M gradually and then driving the electric motor M at a constant speed. Then, when the electric motor M is rotationally driven, the difference calculation unit 18 calculates the amount of change ΔP indicating the amount of change in the rotational position of the electric motor M (step 102). Then, the sign Sr of the speed command Nr and the sign Sf of the change amount ΔP are discriminated (steps 103, 104, 105). At this time, when the electric motor M reaches the target position by rotating forward, the positive state of both the sign Sr and the sign Sf indicates a normal state until the electric motor M enters the deceleration region. At this time, if the speed control unit 24 or the encoder E fails and the sign Sf of the change amount ΔP is inverted from plus to minus, the sign determination unit 20 outputs the abnormality detection signal AS (step 106). When the abnormality detection signal AS is output, the drive of the electric motor M is stopped by the speed control unit 24, and the display unit 26 displays that an abnormality has occurred in the control system. Further, when the electric motor M shifts to the deceleration region, a normal value is shown when both the sign Sr and the sign Sf are negative, and when the signs of both are different, it is judged as an abnormality and the abnormality detection signal As is output from the code determination unit 20. The driving of the electric motor M is stopped.

Further, in the above-described embodiment, when the code Sr and the code Sf have different signs, the abnormality detection signal A is instantaneously generated.
Although the one that outputs S has been described, the code discriminating unit 20 may be configured to output the abnormal signal only when the time for discriminating the different sign of the code is continued for a certain time or more. If the sign is determined on the condition that the absolute value of the position deviation Ep exceeds a predetermined value,
It is possible to prevent erroneous output of the abnormality detection signal AS due to noise or calculation error.

In the above embodiment, the position control of the electric motor M is performed based on the digital signal, but the position control of the electric motor M may be performed based on the analog signal. In this case, instead of the difference calculation section 18, a differential calculation means for differentiating the rotational position Pf of the analog signal to obtain the speed component is used.

Next, a second embodiment of the present invention will be described with reference to FIG. In this embodiment, the code discriminating unit 2 shown in FIG.
Instead of 0, a comparison calculation unit 28 is provided, and the position deviation Ep and the change amount ΔP are input to the comparison calculation unit 28.
Since the abnormality detection signal AS is output from the above, and the other configuration is the same as that of FIG. 1, only the main part is shown in FIG.

The comparison calculator 28 determines that the position deviation Ep is a predetermined value P.
Abnormality determining means for determining whether the absolute value of the variation ΔP is less than or equal to an abnormal setting value approximated to zero under the condition that it is 1 or more, and when an abnormality determination result is output from the abnormality determining means. An abnormality signal output means for outputting the abnormality detection signal AS is provided. That is, except when the electric motor M is at the target rotational position, the position deviation Ep becomes a value greater than or equal to the predetermined value P1. When the value is equal to or less than the set value, it is considered that the value of the mechanical load 12 exceeds a predetermined value or the mechanical load 12 collides with an obstacle and the driving of the electric motor M is stopped, and the abnormality detection signal AS is output. It is like this.

Next, the operation of this embodiment will be described with reference to FIGS. When the target rotation position Pr is input to the subtraction unit 14 as the stepped command value in association with the activation of the controller 10, the rotation position Pf accompanying the driving of the electric motor M is calculated (step 200). Then, the positional deviation Ep between the calculated rotational position Pf and the target rotational position Pr is obtained, and the speed command Nr is generated according to this positional deviation Ep (step 201). At this time, the value of the position deviation Ep is monitored by the comparison calculation unit 28, and it is determined whether or not the position deviation Ep is less than or equal to the predetermined value P1 (step 20).
2). When the position deviation Ep is less than the predetermined value P1, it is determined that the electric motor M has reached the target position, and the processing of this routine is ended. (Step 2
03). Then, it is determined whether or not the absolute value of the variation ΔP is zero, which is equal to or less than the abnormal set value (step 204). When this absolute value is other than zero, the processing of this routine is ended, and when it is determined that the absolute value is zero, the comparison operation unit 2
The abnormality detection signal AS is output from 8, the driving of the electric motor M is stopped, and the abnormality is displayed on the display screen of the display unit 26. As a result, the processing associated with the abnormality detection processing ends.

According to this embodiment, even if the command value whose step value changes stepwise is used, the mechanical load 1
It is possible to detect the second abnormality and the abnormality associated with the failure of the position and speed control system.

In the above embodiment, the comparison operation unit 28
As an example, an abnormality determining means for determining whether or not the absolute value of the change amount ΔP is below the abnormal set value for a certain period of time is provided, or the absolute value of the change amount ΔP falls below the abnormal set value by the abnormality determining means. If it is determined that there is an abnormality signal output means that outputs an abnormality signal only when the abnormality determination result is continuously output for a certain period of time or more, it is possible to make an error due to noise or calculation error. It is possible to prevent abnormal detection. In the case where the above-mentioned embodiment is constructed by using an analog signal, instead of the difference calculation unit 18, the output signal of the position detection calculation unit 22 which outputs an analog signal is differentiated to obtain a velocity component. If the calculation means is used, the processing of the position control system can be performed by an analog signal.

Next, a third embodiment of the present invention will be described with reference to FIGS.
Follow the instructions below. In this embodiment, difference computing units 30 and 32 and a comparison computing unit 34 are provided in place of the code discriminating unit 20 shown in FIG. 1, and other configurations are the same as those in FIG. FIG. 7 shows only the main part.

The difference calculating section 30 is constructed as a second difference calculating means for sequentially inputting a digital signal indicating the change amount ΔP from the difference calculating section 18 and calculating a difference amount ΔNf corresponding to the motor acceleration. A digital signal indicating the amount of change ΔNf is input to the comparison calculation unit 34. The difference calculator 32 is configured as a third difference calculator that sequentially takes in the speed command Nr during sampling and calculates the difference as a change amount ΔNr corresponding to the command acceleration, and a digital signal indicating the change amount ΔNr is compared and calculated. It is input to the unit 34. The comparison calculation unit 34 determines the change amount ΔNf and the change amount Δ
Absolute value deviation calculating means for calculating the absolute value of the deviation from Nr, abnormality determining means for determining whether the calculated value of the absolute value deviation calculating means is greater than or equal to the abnormal set value α, When the determination result is output, the abnormality detection signal AR
Is configured to include an abnormal signal output means for outputting.
When the abnormality detection signal AR is output, the driving of the electric motor M is stopped and the fact that the abnormality is detected is displayed on the screen of the display unit 26, as in the above-described embodiment. .

Next, the operation of this embodiment will be described with reference to FIGS. When the signal indicating the target rotational position Pr at which the command value changes stepwise is input to the subtracting unit 14 upon activation of the controller 10, the rotational position Pf associated with the rotation of the electric motor M is calculated ( Step 300). Next, the deviation between the target rotation position Pr and the rotation position Pf is the position deviation E.
The speed command Nr is calculated according to the position deviation Ep (step 301). When the speed command Nr is generated, the difference calculator 32 calculates the amount of change ΔNr of the speed command Nr as the command acceleration (step 302). At this time, the difference calculation unit 18 calculates the change amount ΔP of the rotational position based on the rotational position Pf (step 303). Then, in the difference calculation unit 30, the change amount ΔP
Is sequentially calculated, and this change amount ΔNf is calculated as the motor acceleration (step 304). When the change amounts ΔNr and ΔNf are input to the comparison calculation unit 34, the comparison calculation unit 34 determines whether the absolute value of the deviation between the change amount ΔNr and the change amount ΔNf is equal to or greater than the abnormal set value α. It is performed (step 305). If the absolute value of the deviation is less than the abnormal set value α in this step, the processing in this routine is ended, and if it is determined that the absolute value of the deviation is greater than or equal to the abnormal set value α, it is determined that the acceleration of the electric motor M has changed suddenly, and the comparison calculation is performed. The abnormality detection signal AS is output from the unit 34 (step 306). When the abnormality detection signal AS is output, the driving of the electric motor M is stopped and the display unit 26
The fact that an abnormality has occurred is displayed on the display screen of, and the processing in this routine ends.

As described above, according to this embodiment, the abnormality detection signal AS is output when the absolute value of the deviation between the command acceleration and the motor acceleration exceeds the abnormality set value α. It is possible to detect an abnormality caused by a sudden change in the state of the mechanical load 12 during the acceleration of, and a sudden change in the acceleration of the electric motor M.

Further, according to this embodiment, since the abnormality is detected on the basis of the acceleration, it is possible to monitor the variation of the mechanical load 12 without distinction during acceleration of the electric motor M or during constant speed running. It is possible to immediately detect a sudden change in the acceleration of the electric motor M that accompanies the sudden change in the load.

In the above embodiment, the position control system using a digital signal has been described, but this position control system may be configured to use an analog signal. In this case, it is desirable to use a differential calculator such as a differential calculator that differentiates the analog signal in the difference calculators 18, 30, 32.

Further, in the above embodiment, the one in which the abnormality detection signal AS is immediately output when the absolute value of the deviation between the command acceleration and the motor acceleration exceeds the abnormality set value α has been described. As an example, the absolute value of the deviation is configured to include an abnormality determination unit that determines whether the absolute value continues for a certain period of time or more and is greater than or equal to an abnormal setting value, or the abnormality determination result from the abnormality determination unit continues for a certain period of time or more. By providing an abnormality signal output means for outputting the abnormality detection signal AS when it is output, it is possible to prevent erroneous abnormality detection due to noise or calculation error.

Next, a fourth embodiment of the present invention will be described with reference to FIGS.
It will be described based on 2. The present embodiment is provided with a difference calculation unit 30, an abnormal constant setting unit 36, and a comparison calculation unit 38 in place of the code determination unit 20 shown in FIG. 1, and other configurations are the same as those in FIG. Therefore, only main parts are shown in FIG.

The abnormal constant setting unit 36 is configured as an abnormal value setting means for setting the abnormal constant AC as the abnormal value of the acceleration component according to the speed command Nr generated by the position control unit 16, and the value of the abnormal constant AC is set. Is input to the comparison calculation unit 38. In addition to the abnormal constant AC, the comparison calculation unit 38 uses the difference ΔNf corresponding to the motor acceleration from the difference calculation unit 30.
Signal is being input. Then, the comparison calculation unit 38 determines the absolute value deviation calculating means for calculating the absolute value of the deviation between the abnormal constant AC and the change amount ΔNf, and whether or not the calculated value of the absolute value deviation calculating means is greater than or equal to the abnormal set value AC. And an abnormality signal output means for outputting an abnormality detection signal AC when an abnormality determination result is output from the abnormality determination means. When the abnormality calculation signal AS is output from the comparison calculation unit 38, the driving of the electric motor M is stopped and the fact that an abnormality has occurred is displayed on the display screen of the display unit 26.

Next, the operation of this embodiment will be described with reference to FIGS.
Follow the instructions below.

First, when the target position command Pr with which the command value changes stepwise is input to the subtraction unit 14 upon activation of the controller 10, the rotational position Pf associated with the rotation of the electric motor M is calculated ( Step 400). Then, the deviation between the target rotation position Pr and the rotation position Pf is obtained as the position deviation Ep, and the speed command Nr corresponding to the position deviation Ep is generated (step 401). Then, the drive of the electric motor M is controlled according to the speed command Nr, and the value of the abnormal constant AC is set according to the speed command Nr (step 40).
2). Further, the difference calculator 18 calculates the amount of change ΔP according to the rotational position Pf (step 403). Then, the difference calculation unit 30 calculates the change amount ΔNf indicating the motor acceleration according to the change amount ΔP (step 40).
4). Then, when the abnormal constant AC and the change amount ΔNf are input to the comparison calculation unit 38, the comparison calculation unit 38 changes the change amount ΔNf.
The absolute value of the deviation between Nf and the abnormal constant AC is calculated, and it is determined whether the calculated value is an abnormal set value, for example, zero or more (step 405). Then, when the absolute value of the change amount ΔNf is less than the abnormal constant AC, the processing of this routine is ended, and when the absolute value of the change amount ΔNf is the abnormal constant AC or more, the acceleration of the electric motor M suddenly changes, and it is determined from the comparison calculation unit 38. The abnormality detection signal AS is output (step 406). As a result, the drive of the electric motor M is stopped, the fact that an abnormality has occurred is displayed on the display unit 26, and the processing of this routine ends.

According to this embodiment, even if the command value whose step value changes stepwise is used, the mechanical load 1
It is possible to detect a sudden change in the acceleration of the electric motor M due to the sudden change in 2.

In this embodiment, the position control system can be constructed by using an analog signal as in the above-mentioned embodiments. In this case, the difference calculator 18 and the difference calculator 3
As 0, it is desirable to use a differential calculator as a differential calculator.

Further, in the present embodiment, the comparison operation unit 38
As an example, an abnormality determination means for determining whether the calculated value of the absolute value deviation calculation means continues for a certain period of time or more and is equal to or more than the abnormal set value, or an abnormality determination result from the abnormality determination means continues for a certain period of time or more. By providing an abnormality signal output means for outputting the abnormality detection signal AS when it is output, it is possible to prevent erroneous abnormality detection due to noise or calculation error.

In each of the above-described embodiments, the target position command for the electric motor M has been described in which the command value changes step by step. Can be applied.

In each of the above embodiments, the position control and the speed control of the electric motor M are described.
A position control system (subtraction unit 14, which controls the position of the electric motor M,
Position controller 16, difference calculator 18, sign discriminator 20, position detector 22, encoder E, comparison calculator 28, difference calculators 30, 32, comparison calculator 34, abnormal constant setting unit 3
6. The comparison calculation unit 38) can be used as a rotating body abnormality detection device.

[0083]

As described above, according to the present invention,
It is possible to reliably detect a failure of the position / speed control system of the rotating body or a failure associated with a change in the load connected to the rotating body, regardless of the change characteristic of the command value for the rotating body including the electric motor.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram showing a first embodiment of the present invention.

FIG. 2 is a waveform diagram for explaining the operation of the device shown in FIG.

FIG. 3 is a flow chart for explaining the operation of the apparatus shown in FIG.

FIG. 4 is a main part configuration diagram showing a second embodiment of the present invention.

FIG. 5 is a waveform diagram for explaining the operation of the device shown in FIG.

6 is a flow chart for explaining the operation of the apparatus shown in FIG.

FIG. 7 is a main part configuration diagram showing a third embodiment of the present invention.

FIG. 8 is a waveform diagram for explaining the operation of the device shown in FIG.

9 is a flowchart for explaining the operation of the apparatus shown in FIG.

FIG. 10 is a main part configuration diagram showing a fourth embodiment of the present invention.

11 is a waveform diagram for explaining the operation of the device shown in FIG.

12 is a flow chart for explaining the operation of the apparatus shown in FIG.

[Explanation of symbols]

 10 controller 12 machine load 14 subtraction unit 16 position control unit 18 difference calculation unit 20 code determination unit 22 position detection calculation unit 24 speed control unit 26 display unit 28 comparison calculation unit 30 difference calculation unit 32 difference calculation unit 34 comparison calculation unit 36 abnormal Constant setting part 38 Comparative calculation part M Motor E Encoder

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Tadaaki Kakuya 7-1-1 Higashi Narashino, Narashino City, Chiba Prefecture Hitachi Ltd. Narashino Factory

Claims (45)

[Claims] 1. A rotational position detecting means for detecting a rotational position of an electric motor, a position deviation calculating means for calculating a deviation between a target rotational position with respect to the electric motor and a detected position of the rotational position detecting means, and a calculation of the positional deviation calculating means. The deviation between the speed command generating means for generating a speed command for suppressing the deviation to zero, the speed detecting means for detecting the speed of the electric motor, the detected speed of the speed detecting means and the speed command generated by the speed command generating means is calculated. A motor control device comprising: a speed deviation generating means for generating; and a motor driving means for generating a drive signal for suppressing a deviation generated by the speed deviation generating means to zero and driving an electric motor by the drive signal. Differentiating operation means for differentiating the detection output of the rotational position detecting means to obtain a speed component, the sign of the operation value of the differentiating operation means, and the speed generated by the speed command generating means. It is characterized by comprising a code discriminating means for discriminating the sign of the command value, and an abnormal signal output means for monitoring the discrimination result of the code discriminating means and outputting an abnormal signal when the codes of the both are discriminated to be different. A motor control device. 2. A rotational position detecting means for detecting a rotational position of the electric motor, a position deviation calculating means for calculating a deviation between a target rotational position with respect to the electric motor and a detected position of the rotational position detecting means, and a calculation of the position deviation calculating means. The deviation between the speed command generating means for generating a speed command for suppressing the deviation to zero, the speed detecting means for detecting the speed of the electric motor, the detected speed of the speed detecting means and the speed command generated by the speed command generating means is calculated. A motor control device comprising: a speed deviation generating means for generating; and a motor driving means for generating a drive signal for suppressing a deviation generated by the speed deviation generating means to zero and driving an electric motor by the drive signal. Differentiating operation means for differentiating the detection output of the rotational position detecting means to obtain a speed component, a sign of the operation value of the differentiating operation means, and speed generated by the speed command generating means. Abnormality that outputs an abnormal signal when the code discriminating means for discriminating the sign of the command value and the discrimination result of the code discriminating means are discriminated to be different from each other and the discrimination result continues for a certain time or more. An electric motor control device comprising a signal output means. 3. A rotation position detecting means for detecting a rotation position of the electric motor, a position deviation calculating means for calculating a deviation between a target rotation position with respect to the electric motor and a detected position of the rotation position detecting means, and a calculation of the position deviation calculating means. The deviation between the speed command generating means for generating a speed command for suppressing the deviation to zero, the speed detecting means for detecting the speed of the electric motor, the detected speed of the speed detecting means and the speed command generated by the speed command generating means is calculated. A motor control device comprising: a speed deviation generating means for generating; and a motor driving means for generating a drive signal for suppressing a deviation generated by the speed deviation generating means to zero and driving an electric motor by the drive signal. Differentiating operation means for differentiating the detection output of the rotational position detecting means to obtain a velocity component, and the absolute value of the calculation result of the position deviation calculating means exceeding a predetermined value The code discriminating means for discriminating between the sign of the calculated value of the differential calculating means and the sign of the speed command value generated by the speed command generating means, and the judgment result of the sign judging means are monitored to discriminate both signs. An electric motor control device comprising an abnormal signal output means for outputting an abnormal signal when the electric motor is turned on. 4. A position deviation calculating means for outputting a pulse signal according to a rotation position of the electric motor, and a position deviation calculating means for calculating a deviation between a pulse number indicating a target rotation position with respect to the electric motor and an output pulse number of the rotation position detecting means. Means, speed command generation means for generating a speed command for suppressing the deviation calculated by the position deviation calculation means to zero, speed detection means for detecting the speed of the electric motor, detected speed of the speed detection means and speed command generation. A speed deviation generating means for generating a deviation from a speed command generated by the means, and a motor driving means for generating a drive signal for suppressing the deviation caused by the speed deviation generating means to zero and driving the electric motor by the drive signal. In a motor control device including: a difference calculation unit that sequentially measures the number of output pulses of the rotational position detection unit and obtains a difference between them, and a calculation value of the difference calculation unit. A code discriminating means for discriminating the sign of the speed command value generated by the speed command generating means,
An electric motor control device comprising: an abnormality signal output means for monitoring a discrimination result of the code discrimination means and outputting an abnormality signal when the two codes are discriminated to be different from each other. 5. A position deviation calculating means for outputting a pulse signal according to a rotating position of the electric motor, and a position deviation calculating means for calculating a deviation between a pulse number indicating a target rotational position with respect to the electric motor and an output pulse number of the rotating position detecting means. Means, speed command generation means for generating a speed command for suppressing the deviation calculated by the position deviation calculation means to zero, speed detection means for detecting the speed of the electric motor, detected speed of the speed detection means and speed command generation. A speed deviation generating means for generating a deviation from a speed command generated by the means, and a motor driving means for generating a drive signal for suppressing the deviation caused by the speed deviation generating means to zero and driving the electric motor by the drive signal. In a motor control device including: a difference calculation means for sequentially measuring the number of output pulses of the rotational position detection means to obtain a difference between them, and a calculation value of the difference calculation means. A code discriminating means for discriminating the sign of the speed command value generated by the speed command generating means,
It is characterized by including an abnormal signal output means for outputting an abnormal signal when the discrimination result of the code discriminating means is monitored to discriminate the two codes as different codes and the discrimination result is continued for a predetermined time or more. Motor control device. 6. A position deviation calculation means for outputting a pulse signal according to a rotation position of the electric motor, and a position deviation calculation for calculating a deviation between a pulse number indicating a target rotation position with respect to the electric motor and an output pulse number of the rotation position detection means. Means, speed command generation means for generating a speed command for suppressing the deviation calculated by the position deviation calculation means to zero, speed detection means for detecting the speed of the electric motor, detected speed of the speed detection means and speed command generation. A speed deviation generating means for generating a deviation from a speed command generated by the means, and a motor driving means for generating a drive signal for suppressing the deviation caused by the speed deviation generating means to zero and driving the electric motor by the drive signal. In a motor control device including: a difference calculation unit that sequentially measures the number of output pulses of the rotational position detection unit and obtains a difference between them, and the position deviation calculation unit. Of the difference between the calculated value of the difference calculating means and the sign of the speed command value generated by the speed command generating means, provided that the absolute value of the calculation result of An electric motor control device comprising: an abnormality signal output means for monitoring a discrimination result and outputting an abnormality signal when the two codes are discriminated to be different from each other. 7. A rotation position detecting means for detecting a rotation position of the electric motor, a position deviation calculating means for calculating a deviation between a target rotation position with respect to the electric motor and a detected position of the rotation position detecting means, and a calculation of the position deviation calculating means. The deviation between the speed command generating means for generating a speed command for suppressing the deviation to zero, the speed detecting means for detecting the speed of the electric motor, the detected speed of the speed detecting means and the speed command generated by the speed command generating means is calculated. A motor control device comprising: a speed deviation generating means for generating; and a motor driving means for generating a drive signal for suppressing a deviation generated by the speed deviation generating means to zero and driving an electric motor by the drive signal. Differentiating operation means for differentiating the detection output of the rotational position detecting means to obtain a velocity component, and the calculation value of the position deviation calculating means being equal to or greater than a predetermined value other than zero And an abnormality signal output that outputs an abnormality signal when the abnormality determination result is output from the abnormality determination means and whether the absolute value of the calculated value of the differential operation means is less than or equal to the abnormality set value. An electric motor control device comprising means. 8. A rotation position detecting means for detecting a rotation position of the electric motor, a position deviation calculating means for calculating a deviation between a target rotation position with respect to the electric motor and a detected position of the rotation position detecting means, and a calculation of the position deviation calculating means. The deviation between the speed command generating means for generating a speed command for suppressing the deviation to zero, the speed detecting means for detecting the speed of the electric motor, the detected speed of the speed detecting means and the speed command generated by the speed command generating means is calculated. A motor control device comprising: a speed deviation generating means for generating; and a motor driving means for generating a drive signal for suppressing a deviation generated by the speed deviation generating means to zero and driving an electric motor by the drive signal. Differentiating operation means for differentiating the detection output of the rotational position detecting means to obtain a speed component, and the calculated value of the position deviation calculating means being equal to or greater than a predetermined value other than zero The abnormality determination means for determining whether or not the absolute value of the calculated value of the differential calculation means continues to be below the abnormality set value for a certain period of time or longer, and the abnormality signal when the abnormality determination result is output from the abnormality determination means. An electric motor control device, comprising: an abnormal signal output means for outputting. 9. A rotation position detecting means for detecting a rotation position of the electric motor, a position deviation calculating means for calculating a deviation between a target rotation position with respect to the electric motor and a detected position of the rotation position detecting means, and a calculation of the position deviation calculating means. The deviation between the speed command generating means for generating a speed command for suppressing the deviation to zero, the speed detecting means for detecting the speed of the electric motor, the detected speed of the speed detecting means and the speed command generated by the speed command generating means is calculated. A motor control device comprising: a speed deviation generating means for generating; and a motor driving means for generating a drive signal for suppressing a deviation generated by the speed deviation generating means to zero and driving an electric motor by the drive signal. Differentiating operation means for differentiating the detection output of the rotational position detecting means to obtain a velocity component, and the calculation value of the position deviation calculating means being equal to or greater than a predetermined value other than zero The abnormality determination means for determining whether or not the absolute value of the calculated value of the differential calculation means is less than or equal to the abnormality set value, and the abnormality signal when the abnormality determination result is continuously output for a certain time or longer. An electric motor control device comprising an abnormality signal output means for outputting 10. A position deviation calculating means for outputting a pulse signal according to a rotation position of an electric motor, and a position deviation calculating means for calculating a deviation between a pulse number indicating a target rotational position with respect to the electric motor and an output pulse number of the rotating position detecting means. Means, speed command generation means for generating a speed command for suppressing the deviation calculated by the position deviation calculation means to zero, speed detection means for detecting the speed of the electric motor, detected speed of the speed detection means and speed command generation. A speed deviation generating means for generating a deviation from a speed command generated by the means, and a motor driving means for generating a drive signal for suppressing the deviation caused by the speed deviation generating means to zero and driving the electric motor by the drive signal. In a motor control device comprising: difference calculation means for sequentially measuring the number of output pulses of the rotational position detection means to obtain a difference between them
Abnormality determination means for determining whether or not the absolute value of the calculated value of the difference calculation means is less than or equal to an abnormal set value on condition that the calculated value of the position deviation calculation means is greater than or equal to a predetermined value other than zero, and abnormality determination An electric motor control device comprising: an abnormal signal output means for outputting an abnormal signal when a determination result of abnormality is output from the means. 11. A position deviation calculating means for outputting a pulse signal according to a rotating position of the electric motor, and a position deviation calculating means for calculating a deviation between the number of pulses indicating a target rotational position with respect to the electric motor and the output pulse number of the rotating position detecting means. Means, speed command generation means for generating a speed command for suppressing the deviation calculated by the position deviation calculation means to zero, speed detection means for detecting the speed of the electric motor, detected speed of the speed detection means and speed command generation. A speed deviation generating means for generating a deviation from a speed command generated by the means, and a motor driving means for generating a drive signal for suppressing the deviation caused by the speed deviation generating means to zero and driving the electric motor by the drive signal. In a motor control device comprising: difference calculating means for sequentially measuring the number of output pulses of the rotational position detecting means to obtain a difference between them.
Abnormality for determining whether or not the absolute value of the calculated value of the difference calculating means continues for a certain period of time or less and is below an abnormal set value, provided that the calculated value of the position deviation calculating means is equal to or greater than a predetermined value other than zero. An electric motor control device comprising: a determination unit and an abnormality signal output unit that outputs an abnormality signal when an abnormality determination result is output from the abnormality determination unit. 12. A position deviation calculation means for outputting a pulse signal according to a rotation position of an electric motor and a deviation between a pulse number indicating a target rotation position for the electric motor and an output pulse number of the rotation position detecting means. Means, speed command generation means for generating a speed command for suppressing the deviation calculated by the position deviation calculation means to zero, speed detection means for detecting the speed of the electric motor, detected speed of the speed detection means and speed command generation. A speed deviation generating means for generating a deviation from a speed command generated by the means, and a motor driving means for generating a drive signal for suppressing the deviation caused by the speed deviation generating means to zero and driving the electric motor by the drive signal. In a motor control device comprising: difference calculating means for sequentially measuring the number of output pulses of the rotational position detecting means to obtain a difference between them.
Abnormality determination means for determining whether or not the absolute value of the calculated value of the difference calculation means is less than or equal to an abnormal set value on condition that the calculated value of the position deviation calculation means is greater than or equal to a predetermined value other than zero, and abnormality determination An electric motor control device comprising: an abnormality signal output means for outputting an abnormality signal when an abnormality determination result is continuously output for a certain time or longer from the means. 13. A rotation position detection means for detecting a rotation position of an electric motor, a position deviation calculation means for calculating a deviation between a target rotation position with respect to the electric motor and a detection position of the rotation position detection means, and a calculation of the position deviation calculation means. The deviation between the speed command generating means for generating a speed command for suppressing the deviation to zero, the speed detecting means for detecting the speed of the electric motor, the detected speed of the speed detecting means and the speed command generated by the speed command generating means is calculated. A motor control device comprising: a speed deviation generating means for generating; and a motor driving means for generating a drive signal for suppressing a deviation generated by the speed deviation generating means to zero and driving an electric motor by the drive signal. First differential calculating means for differentiating a detection output of the rotational position detecting means to obtain a speed component, and second fine calculating means for differentiating a calculated value of the first differential calculating means to obtain an acceleration component. Minute calculation means, third differential calculation means for differentiating the speed command generated by the speed command generation means, absolute value of deviation between the calculated value of the second differential calculation means and the calculated value of the third differential calculation means Absolute value deviation calculating means, an abnormality judging means for judging whether or not the calculated value of the absolute value deviation calculating means is equal to or more than an abnormal set value, and an abnormality signal when the abnormality judging result is outputted from the abnormality judging means. An electric motor control device, comprising: an abnormal signal output means for outputting. 14. A rotational position detecting means for detecting a rotational position of an electric motor, a position deviation calculating means for calculating a deviation between a target rotational position with respect to the electric motor and a detected position of the rotational position detecting means, and a calculation of the position deviation calculating means. The deviation between the speed command generating means for generating a speed command for suppressing the deviation to zero, the speed detecting means for detecting the speed of the electric motor, the detected speed of the speed detecting means and the speed command generated by the speed command generating means is calculated. A motor control device comprising: a speed deviation generating means for generating; and a motor driving means for generating a drive signal for suppressing a deviation generated by the speed deviation generating means to zero and driving an electric motor by the drive signal. First differential calculating means for differentiating a detection output of the rotational position detecting means to obtain a speed component, and second fine calculating means for differentiating a calculated value of the first differential calculating means to obtain an acceleration component. Minute calculation means, third differential calculation means for differentiating the speed command generated by the speed command generation means, absolute value of deviation between the calculated value of the second differential calculation means and the calculated value of the third differential calculation means Absolute value deviation calculating means, abnormality judging means for judging whether or not the calculated value of the absolute value deviation calculating means continues to be equal to or more than the abnormal set value for a certain period of time, and the abnormality judgment result is outputted from the abnormality judging means. An electric motor control device comprising an abnormal signal output means for outputting an abnormal signal when the electric motor is operated. 15. A rotation position detecting means for detecting a rotation position of the electric motor, a position deviation calculating means for calculating a deviation between a target rotation position with respect to the electric motor and a detected position of the rotation position detecting means, and a calculation of the position deviation calculating means. The deviation between the speed command generating means for generating a speed command for suppressing the deviation to zero, the speed detecting means for detecting the speed of the electric motor, the detected speed of the speed detecting means and the speed command generated by the speed command generating means is calculated. A motor control device comprising: a speed deviation generating means for generating; and a motor driving means for generating a drive signal for suppressing a deviation generated by the speed deviation generating means to zero and driving an electric motor by the drive signal. First differential calculating means for differentiating a detection output of the rotational position detecting means to obtain a speed component, and second fine calculating means for differentiating a calculated value of the first differential calculating means to obtain an acceleration component. Minute calculation means, third differential calculation means for differentiating the speed command generated by the speed command generation means, absolute value of deviation between the calculated value of the second differential calculation means and the calculated value of the third differential calculation means Absolute value deviation calculating means, abnormality judging means for judging whether or not the calculated value of the absolute value deviation calculating means is equal to or more than the abnormal set value, and the abnormality judgment result is continuously output for a predetermined time or longer from the abnormality judging means. An electric motor control device comprising an abnormal signal output means for outputting an abnormal signal when the electric motor is operated. 16. A position deviation calculating means for calculating a deviation between a rotational position detecting means for outputting a pulse signal according to a rotational position of the electric motor and a pulse number indicating a target rotational position for the electric motor and an output pulse number of the rotating position detecting means. Means, speed command generation means for generating a speed command for suppressing the deviation calculated by the position deviation calculation means to zero, speed detection means for detecting the speed of the electric motor, detected speed of the speed detection means and speed command generation. A speed deviation generating means for generating a deviation from a speed command generated by the means, and a motor driving means for generating a drive signal for suppressing the deviation caused by the speed deviation generating means to zero and driving the electric motor by the drive signal. And a first difference calculating means for sequentially measuring the number of output pulses of the rotational position detecting means to obtain a difference between them. Second difference calculating means for sequentially inputting the calculated values of the stages and calculating the difference between them, third difference calculating means for sequentially inputting the speed command generated by the speed command generating means to calculate the difference sentence, and second difference Absolute value deviation calculating means for calculating the absolute value of the deviation between the calculated value of the calculating means and the calculated value of the third difference calculating means, and determining whether the calculated value of the absolute value deviation calculating means is greater than or equal to the abnormal set value. An electric motor control device comprising: an abnormality determination unit that performs the abnormality determination; and an abnormality signal output unit that outputs an abnormality signal when an abnormality determination result is output from the abnormality determination unit. 17. A position deviation calculating means for outputting a pulse signal according to a rotation position of an electric motor, and a position deviation calculating means for calculating a deviation between a pulse number indicating a target rotation position with respect to the electric motor and an output pulse number of the rotation position detecting means. Means, speed command generation means for generating a speed command for suppressing the deviation calculated by the position deviation calculation means to zero, speed detection means for detecting the speed of the electric motor, detected speed of the speed detection means and speed command generation. A speed deviation generating means for generating a deviation from a speed command generated by the means, and a motor driving means for generating a drive signal for suppressing the deviation caused by the speed deviation generating means to zero and driving the electric motor by the drive signal. And a first difference calculating means for sequentially measuring the number of output pulses of the rotational position detecting means to obtain a difference between them. Second difference calculating means for sequentially inputting the calculated values of the stages and calculating the difference between them, third difference calculating means for sequentially inputting the speed command generated by the speed command generating means to calculate the difference sentence, and second difference Absolute value deviation calculating means for calculating the absolute value of the deviation between the calculated value of the calculating means and the calculated value of the third difference calculating means, and the calculated value of the absolute value deviation calculating means continues for a certain period of time or more and exceeds the abnormal set value. An electric motor control device comprising: an abnormality determining unit that determines whether or not there is an abnormality determination unit; and an abnormality signal output unit that outputs an abnormality signal when an abnormality determination result is output from the abnormality determination unit. 18. A position deviation calculation means for outputting a pulse signal according to a rotation position of the electric motor, and a position deviation calculation for calculating a deviation between a pulse number indicating a target rotation position with respect to the electric motor and an output pulse number of the rotation position detection means. Means, speed command generating means for generating a speed command for suppressing the deviation calculated by the position deviation calculating means to zero, speed detecting means for detecting the speed of the electric motor, detected speed of the speed detecting means and speed command generation. Speed deviation generating means for generating a deviation from the speed command generated by the means, and motor driving means for generating a driving signal for suppressing the deviation caused by the speed deviation generating means to zero and driving the electric motor by the driving signal. And a first difference calculating means for sequentially measuring the number of output pulses of the rotational position detecting means to obtain a difference between them. Second difference calculating means for sequentially inputting the calculated values of the stages and calculating the difference between them, third difference calculating means for sequentially inputting the speed command generated by the speed command generating means to calculate the difference sentence, and second difference Absolute value deviation calculating means for calculating the absolute value of the deviation between the calculated value of the calculating means and the calculated value of the third difference calculating means, and it is determined whether the calculated value of the absolute value deviation calculating means is greater than or equal to the abnormal set value. An electric motor control device comprising: an abnormality determination unit that performs the abnormality determination; and an abnormality signal output unit that outputs an abnormality signal when an abnormality determination result is continuously output from the abnormality determination unit for a certain period of time or longer. 19. A rotation position detecting means for detecting a rotation position of an electric motor, a position deviation calculating means for calculating a deviation between a target rotation position with respect to the electric motor and a detected position of the rotation position detecting means, and a calculation of the position deviation calculating means. The deviation between the speed command generating means for generating a speed command for suppressing the deviation to zero, the speed detecting means for detecting the speed of the electric motor, the detected speed of the speed detecting means and the speed command generated by the speed command generating means is calculated. A motor control device comprising: a speed deviation generating means for generating; and a motor driving means for generating a drive signal for suppressing a deviation generated by the speed deviation generating means to zero and driving an electric motor by the drive signal. First differential calculating means for differentiating a detection output of the rotational position detecting means to obtain a speed component, and second fine calculating means for differentiating a calculated value of the first differential calculating means to obtain an acceleration component. The minute calculation means, the abnormal value setting means for setting the abnormal value of the acceleration component according to the speed command generated by the speed command generation means, the calculated value of the second differential calculation means, and the set value of the abnormal value setting means. Absolute value deviation calculating means for calculating the absolute value of the deviation, abnormality judging means for judging whether or not the calculated value of the absolute value deviation calculating means is greater than or equal to the abnormal set value, and the abnormality judgment result is output from the abnormality judging means. An electric motor control device comprising: an abnormal signal output means for outputting an abnormal signal when the electric motor is operated. 20. A rotation position detecting means for detecting a rotation position of the electric motor, a position deviation calculating means for calculating a deviation between a target rotation position with respect to the electric motor and a detected position of the rotation position detecting means, and a calculation of the position deviation calculating means. The deviation between the speed command generating means for generating a speed command for suppressing the deviation to zero, the speed detecting means for detecting the speed of the electric motor, the detected speed of the speed detecting means and the speed command generated by the speed command generating means is calculated. A motor control device comprising: a speed deviation generating means for generating; and a motor driving means for generating a drive signal for suppressing a deviation generated by the speed deviation generating means to zero and driving an electric motor by the drive signal. First differential calculating means for differentiating a detection output of the rotational position detecting means to obtain a speed component, and second fine calculating means for differentiating a calculated value of the first differential calculating means to obtain an acceleration component. The minute calculation means, the abnormal value setting means for setting the abnormal value of the acceleration component according to the speed command generated by the speed command generation means, the calculated value of the second differential calculation means, and the set value of the abnormal value setting means. From the absolute value deviation calculating means for calculating the absolute value of the deviation, the abnormality judging means for judging whether or not the calculated value of the absolute value deviation calculating means is continuously above the abnormal set value for a certain period of time, and the abnormality judging means. An electric motor control device comprising an abnormal signal output means for outputting an abnormal signal when an abnormality determination result is output. 21. A rotation position detecting means for detecting a rotation position of an electric motor, a position deviation calculating means for calculating a deviation between a target rotation position with respect to the electric motor and a detected position of the rotation position detecting means, and a calculation of the position deviation calculating means. The deviation between the speed command generating means for generating a speed command for suppressing the deviation to zero, the speed detecting means for detecting the speed of the electric motor, the detected speed of the speed detecting means and the speed command generated by the speed command generating means is calculated. A motor control device comprising: a speed deviation generating means for generating; and a motor driving means for generating a drive signal for suppressing a deviation generated by the speed deviation generating means to zero and driving an electric motor by the drive signal. First differential calculating means for differentiating the detection output of the rotational position detecting means to obtain a velocity component, and second fine calculating means for differentiating the calculated value of the first differential calculating means to obtain an acceleration component. A minute calculation means, an abnormal value setting means for setting an abnormal value of the acceleration component according to the speed command generated by the speed command generation means, a calculated value of the second differential calculation means, and a set value of the abnormal value setting means. Absolute value deviation calculating means for calculating the absolute value of the deviation, abnormality judging means for judging whether or not the calculated value of the absolute value deviation calculating means is greater than or equal to the abnormal set value, and the abnormality judgment result from the abnormality judging means is constant. An electric motor control device comprising an abnormal signal output means for outputting an abnormal signal when continuously output for a time or more. 22. A position deviation calculating means for outputting a pulse signal according to a rotating position of the electric motor, and a position deviation calculating means for calculating a deviation between the number of pulses indicating a target rotating position with respect to the electric motor and the number of output pulses of the rotating position detecting means. Means, speed command generation means for generating a speed command for suppressing the deviation calculated by the position deviation calculation means to zero, speed detection means for detecting the speed of the electric motor, detected speed of the speed detection means and speed command generation. A speed deviation generating means for generating a deviation from a speed command generated by the means, and a motor driving means for generating a drive signal for suppressing the deviation caused by the speed deviation generating means to zero and driving the electric motor by the drive signal. And a first difference calculating means for sequentially measuring the number of output pulses of the rotational position detecting means to obtain a difference between them. Second difference calculating means for sequentially inputting the calculated values of the stages to obtain the difference, abnormal value setting means for setting an abnormal value of the acceleration component according to the speed command generated by the speed command generating means, and the second difference Absolute value deviation calculating means for calculating the absolute value of the deviation between the calculated value of the calculating means and the set value of the abnormal value setting means, and determining whether the calculated value of the absolute value deviation calculating means is greater than or equal to the abnormal set value An electric motor control device comprising: an abnormality determination means; and an abnormality signal output means for outputting an abnormality signal when an abnormality determination result is output from the abnormality determination means. 23. A position deviation calculation means for calculating a deviation between a rotational position detecting means for outputting a pulse signal according to a rotational position of the electric motor and a pulse number indicating a target rotational position for the electric motor and an output pulse number of the rotational position detecting means. Means, speed command generation means for generating a speed command for suppressing the deviation calculated by the position deviation calculation means to zero, speed detection means for detecting the speed of the electric motor, detected speed of the speed detection means and speed command generation. A speed deviation generating means for generating a deviation from a speed command generated by the means, and a motor driving means for generating a drive signal for suppressing the deviation caused by the speed deviation generating means to zero and driving the electric motor by the drive signal. And a first difference calculating means for sequentially measuring the number of output pulses of the rotational position detecting means to obtain a difference between them. Second difference calculating means for sequentially inputting the calculated values of the stages to obtain the difference, abnormal value setting means for setting an abnormal value of the acceleration component according to the speed command generated by the speed command generating means, and the second difference Absolute value deviation calculating means for calculating the absolute value of the deviation between the calculated value of the calculating means and the set value of the abnormal value setting means, and the calculated value of the absolute value deviation calculating means is continuously above the abnormal set value for a certain time or longer. An electric motor control device comprising: an abnormality determination means for determining whether or not the abnormality determination means outputs an abnormality signal when an abnormality determination result is output from the abnormality determination means. 24. A position deviation calculation means for outputting a pulse signal according to a rotation position of the electric motor, and a position deviation calculation for calculating a deviation between a pulse number indicating a target rotation position with respect to the electric motor and an output pulse number of the rotation position detection means. Means, speed command generating means for generating a speed command for suppressing the deviation calculated by the position deviation calculating means to zero, speed detecting means for detecting the speed of the electric motor, detected speed of the speed detecting means and speed command generation. Speed deviation generating means for generating a deviation from the speed command generated by the means, and motor driving means for generating a driving signal for suppressing the deviation caused by the speed deviation generating means to zero and driving the electric motor by the driving signal. And a first difference calculating means for sequentially measuring the number of output pulses of the rotational position detecting means to obtain a difference between them. Second difference calculating means for sequentially inputting the calculated values of the steps to obtain the difference, abnormal value setting means for setting an abnormal value of the acceleration component according to the speed command generated by the speed command generating means, and second difference Absolute value deviation calculating means for calculating the absolute value of the deviation between the calculated value of the calculating means and the set value of the abnormal value setting means, and determining whether the calculated value of the absolute value deviation calculating means is greater than or equal to the abnormal set value An electric motor control device comprising: an abnormality determination means; and an abnormality signal output means for outputting an abnormality signal when the abnormality determination result is continuously output for a predetermined time or longer from the abnormality determination means. 25. A rotation position detecting means for detecting a rotation position of a rotating body, a position deviation calculating means for calculating a deviation between a target rotation position with respect to the rotating body and a detected position of the rotation position detecting means, and a position deviation calculating means. A speed command generating means for generating a speed command for suppressing the calculated deviation to zero, a differential calculating means for differentiating the detection output of the rotational position detecting means to obtain a speed component, and a sign of a calculated value of the differential calculating means. And a sign discriminating means for discriminating the sign of the speed command value generated by the speed command generating means, and an abnormality signal for outputting an abnormal signal when the discrimination results of the sign discriminating means are monitored and they are discriminated from each other. An abnormality detecting device for a rotating body, comprising a signal output means. 26. A rotation position detecting means for detecting a rotation position of a rotating body, a position deviation calculating means for calculating a deviation between a target rotation position with respect to the rotating body and a detected position of the rotation position detecting means, and a position deviation calculating means. A speed command generating means for generating a speed command for suppressing the calculated deviation to zero, a differential calculating means for differentiating the detection output of the rotational position detecting means to obtain a speed component, and a sign of a calculated value of the differential calculating means. And a code discriminating means for discriminating the sign of the speed command value generated by the speed command generating means, and the discrimination result of the code discriminating means is monitored to discriminate both codes, and the discrimination result continues for a certain time or more. An abnormality detection device for a rotating body, which is provided with an abnormality signal output means for outputting an abnormality signal when the rotation is performed. 27. A rotation position detecting means for detecting a rotation position of a rotating body, a position deviation calculating means for calculating a deviation between a target rotation position with respect to the rotating body and a detected position of the rotation position detecting means, and a position deviation calculating means. A speed command generating means for generating a speed command for suppressing the calculated deviation to zero, a differential calculating means for differentiating the detection output of the rotational position detecting means to obtain a speed component, and a calculation result of the position deviation calculating means. A sign discriminating means for discriminating between the sign of the calculated value of the differential calculating means and the sign of the speed command value generated by the speed command generating means, and the judgment result of the sign judging means. An abnormality detecting device for a rotating body, which is provided with abnormality signal output means for outputting an abnormality signal when it is determined that the two codes are different from each other by monitoring. 28. A rotational position detecting means for outputting a pulse signal according to the rotational position of the rotating body, and a position for calculating a deviation between the number of pulses indicating a target rotational position with respect to the rotating body and the number of output pulses of the rotating position detecting means. A difference calculating means, a speed command generating means for generating a speed command for suppressing the deviation calculated by the position deviation calculating means to zero, and a difference for sequentially measuring the number of output pulses of the rotational position detecting means to obtain the difference. An arithmetic means, a code discriminating means for discriminating the sign of the arithmetic value of the difference arithmetic means and the sign of the speed command value generated by the speed command generating means, and the discrimination result of the code discriminating means is monitored and the two signs are different. An abnormality detection device for a rotating body, which is provided with an abnormality signal output unit that outputs an abnormality signal when the determination is made. 29. A rotational position detecting means for outputting a pulse signal according to a rotational position of a rotating body, and a position for calculating a deviation between a pulse number indicating a target rotational position with respect to the rotating body and an output pulse number of the rotating position detecting means. A difference calculating means, a speed command generating means for generating a speed command for suppressing the deviation calculated by the position deviation calculating means to zero, and a difference for sequentially measuring the number of output pulses of the rotational position detecting means to obtain the difference. An arithmetic means, a code discriminating means for discriminating the sign of the arithmetic value of the difference arithmetic means and the sign of the speed command value generated by the speed command generating means, and the discrimination result of the code discriminating means is monitored and the two signs are different. An abnormality detection device for a rotating body, which is provided with an abnormality signal output unit that outputs an abnormality signal when the determination result is continued for a predetermined time or longer. 30. A rotational position detecting means for outputting a pulse signal according to a rotational position of a rotating body, and a position for calculating a deviation between a pulse number indicating a target rotational position with respect to the rotating body and an output pulse number of the rotating position detecting means. A difference calculating means, a speed command generating means for generating a speed command for suppressing the deviation calculated by the position deviation calculating means to zero, and a difference for sequentially measuring the number of output pulses of the rotational position detecting means to obtain the difference. The sign of the calculation value of the difference calculating part and the sign of the speed command value generated by the speed command generating part are determined on the condition that the absolute value of the calculation result of the position deviation calculating part exceeds a predetermined value. An abnormality detection device for a rotating body, comprising: a code determination means; and an abnormality signal output means for monitoring a determination result of the code determination means and outputting an abnormality signal when the two codes are determined to be different codes. 31. A rotation position detecting means for detecting a rotation position of a rotating body, a position deviation calculating means for calculating a deviation between a target rotation position with respect to the rotating body and a detected position of the rotation position detecting means, and a position deviation calculating means. A speed command generating means for generating a speed command for suppressing the calculated deviation to zero, a differential calculating means for differentiating a detection output of the rotational position detecting means to obtain a speed component, and a calculated value of the position deviation calculating means. If the absolute value of the calculated value of the differential operation means is less than or equal to the abnormal set value, if the value is greater than or equal to a predetermined value other than zero, and the abnormality determination result is output from the abnormality determination means. An abnormality detecting device for a rotating body, comprising an abnormality signal output means for outputting an abnormality signal when the rotating body is damaged. 32. A rotation position detecting means for detecting a rotation position of a rotating body, a position deviation calculating means for calculating a deviation between a target rotation position with respect to the rotating body and a detected position of the rotation position detecting means, and a position deviation calculating means. A speed command generating means for generating a speed command for suppressing the calculated deviation to zero, a differential calculating means for differentiating a detection output of the rotational position detecting means to obtain a speed component, and a calculated value of the position deviation calculating means. If the absolute value of the calculated value of the differential calculation means continues for a certain period of time or less and is less than or equal to the abnormal set value on condition that is greater than or equal to a predetermined value other than zero, An abnormality detection device for a rotating body, comprising an abnormality signal output means for outputting an abnormality signal when an abnormality determination result is output. 33. A rotation position detecting means for detecting a rotation position of a rotating body, a position deviation calculating means for calculating a deviation between a target rotation position with respect to the rotating body and a detected position of the rotation position detecting means, and a position deviation calculating means. A speed command generating means for generating a speed command for suppressing the calculated deviation to zero, a differential calculating means for differentiating a detection output of the rotational position detecting means to obtain a speed component, and a calculated value of the position deviation calculating means. Is equal to or greater than a predetermined value other than zero, the abnormality determination means determines whether or not the absolute value of the calculated value of the differential calculation means is less than or equal to the abnormal setting value, and the abnormality determination result from the abnormality determination means is constant. An abnormality detection device for a rotating body, comprising an abnormality signal output means for outputting an abnormality signal when continuously output for a time or more. 34. A rotational position detecting means for outputting a pulse signal according to a rotational position of a rotating body, and a position for calculating a deviation between a pulse number indicating a target rotational position with respect to the rotating body and an output pulse number of the rotating position detecting means. A difference calculating means, a speed command generating means for generating a speed command for suppressing the deviation calculated by the position deviation calculating means to zero, and a difference for sequentially measuring the number of output pulses of the rotational position detecting means to obtain the difference. Abnormality determining means for determining whether or not the absolute value of the arithmetic value of the difference arithmetic means is less than or equal to an abnormal set value on the condition that the calculated value of the position deviation calculating means is greater than or equal to a predetermined value other than zero. And an abnormality detection device for a rotating body, which comprises an abnormality signal output means for outputting an abnormality signal when an abnormality determination result is output from the abnormality determination means. 35. A rotational position detecting means for outputting a pulse signal according to a rotational position of a rotating body, and a position for calculating a deviation between a pulse number indicating a target rotational position with respect to the rotating body and an output pulse number of the rotating position detecting means. A difference calculating means, a speed command generating means for generating a speed command for suppressing the deviation calculated by the position deviation calculating means to zero, and a difference for sequentially measuring the number of output pulses of the rotational position detecting means to obtain the difference. Whether the absolute value of the calculation value of the difference calculation means is below the abnormal set value continuously for a certain period of time, provided that the calculation value of the calculation means and the position deviation calculation means is greater than or equal to a predetermined value other than zero. An abnormality detecting device for a rotating body, comprising: abnormality determining means for determining whether the abnormality is detected, and abnormality signal output means for outputting an abnormality signal when an abnormality determination result is output from the abnormality determining means. 36. A rotational position detecting means for outputting a pulse signal according to the rotational position of the rotating body, and a position for calculating a deviation between the number of pulses indicating a target rotational position with respect to the rotating body and the number of output pulses of the rotating position detecting means. A difference calculating means, a speed command generating means for generating a speed command for suppressing the deviation calculated by the position deviation calculating means to zero, and a difference for sequentially measuring the number of output pulses of the rotational position detecting means to obtain the difference. Abnormality determination means for determining whether or not the absolute value of the operation value of the difference operation means is less than or equal to an abnormal set value on condition that the calculated value of the position deviation calculation means is greater than or equal to a predetermined value other than zero. And an abnormality detection device for a rotating body, comprising abnormality signal output means for outputting an abnormality signal when an abnormality determination result is continuously output for a certain period of time or more from the abnormality determination means. 37. A rotation position detecting means for detecting a rotation position of a rotating body, a position deviation calculating means for calculating a deviation between a target rotation position with respect to the rotating body and a detected position of the rotation position detecting means, and a position deviation calculating means. The speed command generating means for generating a speed command for suppressing the calculated deviation to zero, the first differential calculating means for differentiating the detection output of the rotational position detecting means to obtain the speed component, and the first differential calculating means. Second differential calculation means for differentiating the calculated value to obtain an acceleration component, third differential calculation means for differentiating the speed command generated by the speed command generation means, calculated value of the second differential calculation means and third differential calculation Deviation calculation means for calculating the absolute value of the deviation from the calculated value of the means, abnormality judgment means for judging whether the calculated value of the deviation calculation means is greater than or equal to the abnormal set value, and the abnormality judgment result from the abnormality judgment means Is output An abnormality detection device for a rotating body, which is provided with an abnormality signal output means for outputting an abnormality signal when the rotor rotates. 38. A rotation position detecting means for detecting a rotation position of a rotating body, a position deviation calculating means for calculating a deviation between a target rotation position with respect to the rotating body and a detected position of the rotation position detecting means, and a position deviation calculating means. The speed command generating means for generating a speed command for suppressing the calculated deviation to zero, the first differential calculating means for differentiating the detection output of the rotational position detecting means to obtain the speed component, and the first differential calculating means. Second differential calculation means for differentiating the calculated value to obtain an acceleration component, third differential calculation means for differentiating the speed command generated by the speed command generation means, calculated value of the second differential calculation means and third differential calculation Absolute value deviation calculating means for calculating the absolute value of the deviation from the calculated value of the means, and abnormality determining means for determining whether or not the calculated value of the absolute value deviation calculating means continues for a certain period of time or more and is equal to or more than the abnormal set value. And abnormality judgment An abnormality detection device for a rotating body, comprising an abnormality signal output means for outputting an abnormality signal when an abnormality determination result is output from the means. 39. A rotation position detecting means for detecting a rotation position of a rotating body, a position deviation calculating means for calculating a deviation between a target rotation position with respect to the rotating body and a detected position of the rotation position detecting means, and a position deviation calculating means. The speed command generating means for generating a speed command for suppressing the calculated deviation to zero, the first differential calculating means for differentiating the detection output of the rotational position detecting means to obtain the speed component, and the first differential calculating means. Second differential calculation means for differentiating the calculated value to obtain an acceleration component, third differential calculation means for differentiating the speed command generated by the speed command generation means, calculated value of the second differential calculation means and third differential calculation From the absolute value deviation calculating means for calculating the absolute value of the deviation from the calculated value of the means, the abnormality determining means for determining whether the calculated value of the absolute value deviation calculating means is greater than or equal to the abnormal set value, and the abnormality determining means. Abnormal judgment result An abnormality detection device for a rotating body, comprising abnormality signal output means for outputting an abnormality signal when a result is continuously output for a certain period of time or longer. 40. A rotational position detecting means for outputting a pulse signal according to the rotational position of the rotating body, and a position for calculating a deviation between the number of pulses indicating a target rotational position with respect to the rotating body and the number of output pulses of the rotating position detecting means. A deviation calculating means, a speed command generating means for generating a speed command for suppressing the deviation calculated by the position deviation calculating means to zero, and the output pulse number of the rotational position detecting means are sequentially measured to obtain the difference. The first difference calculation means, the second difference calculation means for sequentially inputting the calculation values of the first difference calculation means to obtain the difference, and the speed command generated by the speed command generation means are sequentially input to obtain the difference sentence. The third difference calculation means, the absolute value deviation calculation means for calculating the absolute value of the deviation between the calculation value of the second difference calculation means and the calculation value of the third difference calculation means, and the calculated value of the absolute value deviation calculation means are abnormal. More than set value An abnormality detection device for a rotating body, comprising: abnormality determination means for determining whether or not the abnormality is present, and abnormality signal output means for outputting an abnormality signal when an abnormality determination result is output from the abnormality determination means. 41. A rotational position detecting means for outputting a pulse signal according to a rotational position of a rotating body, and a position for calculating a deviation between a pulse number indicating a target rotational position with respect to the rotating body and an output pulse number of the rotating position detecting means. A deviation calculating means, a speed command generating means for generating a speed command for suppressing the deviation calculated by the position deviation calculating means to zero, and the output pulse number of the rotational position detecting means are sequentially measured to obtain the difference. The first difference calculation means, the second difference calculation means for sequentially inputting the calculation values of the first difference calculation means to obtain the difference, and the speed command generated by the speed command generation means are sequentially input to obtain the difference sentence. The third difference calculation means, the absolute value deviation calculation means for calculating the absolute value of the deviation between the calculation value of the second difference calculation means and the calculation value of the third difference calculation means, and the calculated value of the absolute value deviation calculation means are constant. Over time Of the rotating body provided with abnormality determination means for determining whether or not the abnormality setting value is continuously exceeded, and abnormality signal output means for outputting an abnormality signal when an abnormality determination result is output from the abnormality determination means Anomaly detection device. 42. A rotational position detecting means for outputting a pulse signal according to a rotational position of the rotating body, and a position for calculating a deviation between a pulse number indicating a target rotational position with respect to the rotating body and an output pulse number of the rotating position detecting means. A deviation calculating means, a speed command generating means for generating a speed command for suppressing the deviation calculated by the position deviation calculating means to zero, and the output pulse number of the rotational position detecting means are sequentially measured to obtain the difference. The first difference calculation means, the second difference calculation means for sequentially inputting the calculation values of the first difference calculation means to obtain the difference, and the speed command generated by the speed command generation means are sequentially input to obtain the difference sentence. The third difference calculation means, the absolute value deviation calculation means for calculating the absolute value of the deviation between the calculation value of the second difference calculation means and the calculation value of the third difference calculation means, and the calculated value of the absolute value deviation calculation means are abnormal. More than set value The abnormality of the rotating body is provided with abnormality determining means for determining whether or not the abnormality is present, and abnormality signal output means for outputting an abnormality signal when the abnormality determination result is continuously output for a certain period of time or more from the abnormality determining means. Detection device. 43. A rotation position detecting means for detecting a rotation position of a rotating body, a position deviation calculating means for calculating a deviation between a target rotation position with respect to the rotating body and a detected position of the rotation position detecting means, and a position deviation calculating means. The speed command generating means for generating a speed command for suppressing the calculated deviation to zero, the first differential calculating means for differentiating the detection output of the rotational position detecting means to obtain the speed component, and the first differential calculating means. A second differential calculating means for differentiating the calculated value to obtain an acceleration component; an abnormal value setting means for setting an abnormal value of the acceleration component according to the speed command generated by the speed command generating means; and a second differential calculating means. Absolute value deviation calculating means for calculating the absolute value of the deviation between the calculated value and the set value of the abnormal value setting means, and an abnormality judging means for judging whether or not the calculated value of the absolute value deviation calculating means is greater than or equal to the abnormal set value. And abnormal judgment An abnormality detection device for a rotating body, comprising an abnormality signal output means for outputting an abnormality signal when an abnormality determination result is output from the determining means. 44. A rotation position detecting means for detecting a rotation position of a rotating body, a position deviation calculating means for calculating a deviation between a target rotation position with respect to the rotating body and a detected position of the rotation position detecting means, and a position deviation calculating means. The speed command generating means for generating a speed command for suppressing the calculated deviation to zero, the first differential calculating means for differentiating the detection output of the rotational position detecting means to obtain the speed component, and the first differential calculating means. A second differential calculating means for differentiating the calculated value to obtain an acceleration component; an abnormal value setting means for setting an abnormal value of the acceleration component according to the speed command generated by the speed command generating means; and a second differential calculating means. Absolute value deviation calculating means for calculating the absolute value of the deviation between the calculated value and the set value of the abnormal value setting means, and whether or not the calculated value of the absolute value deviation calculating means is continuously above the abnormal set value for a certain period of time or more. Difference to judge An abnormality detection device for a rotating body, comprising: a normal determination means and an abnormality signal output means that outputs an abnormality signal when an abnormality determination result is output from the abnormality determination means. 45. A rotational position detecting means for outputting a pulse signal according to the rotational position of the rotating body, and a position for calculating a deviation between the number of pulses indicating a target rotational position with respect to the rotating body and the output pulse number of the rotating position detecting means. A deviation calculating means, a speed command generating means for generating a speed command for suppressing the deviation calculated by the position deviation calculating means to zero, and the output pulse number of the rotational position detecting means are sequentially measured to obtain the difference. A first difference calculating means, a second difference calculating means for sequentially inputting the calculated values of the first difference calculating means to obtain the difference, and an abnormal value of the acceleration component according to the speed command generated by the speed command generating means. Abnormal value setting means, absolute value deviation calculating means for calculating the absolute value of the deviation between the calculated value of the second difference calculating means and the setting value of the abnormal value setting means, and the calculated value of the absolute value deviation calculating means is abnormally set. Less than value An abnormality detection device for a rotating body, comprising: abnormality determination means for determining whether or not it is above, and abnormality signal output means for outputting an abnormality signal when an abnormality determination result is output from the abnormality determination means.