JPS60174092A - Protecting circuit of ac servo amplifier - Google Patents

Protecting circuit of ac servo amplifier

Info

Publication number
JPS60174092A
JPS60174092A JP59027335A JP2733584A JPS60174092A JP S60174092 A JPS60174092 A JP S60174092A JP 59027335 A JP59027335 A JP 59027335A JP 2733584 A JP2733584 A JP 2733584A JP S60174092 A JPS60174092 A JP S60174092A
Authority
JP
Japan
Prior art keywords
circuit
output
speed
detection device
signal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP59027335A
Other languages
Japanese (ja)
Inventor
Shinobu Kake
忍 懸
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Panasonic Holdings Corp
Original Assignee
Matsushita Electric Industrial Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Matsushita Electric Industrial Co Ltd filed Critical Matsushita Electric Industrial Co Ltd
Priority to JP59027335A priority Critical patent/JPS60174092A/en
Publication of JPS60174092A publication Critical patent/JPS60174092A/en
Pending legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

PURPOSE:To prevent out of synchronization due to erroneous wiring of a position detector by detecting the erroneous wiring of the detector when a power source is turned ON and interrupting the output of an AC servo motor. CONSTITUTION:When a power source is applied to an AC servo amplifier, a switch 19 for interrupting the output signal of a speed instructing circuit 7 of the amplifier is operated by a timer 18 which operates during the prescribed time from the power source is turned ON. Simultaneously, a switch 30 which connects the output signal of a speed instructing circuit 26 for applying a constant speed command signal to the amplifier is operated by the timer 18 at the same time. If the detector 17 is erroneously wired, the outputs of comparators 23, 22 become ''H'', the AC servo amplifier output interrupting circuit 25 is operated by the output of an AND circuit 24, thereby interrupting the outputs of the both servo amplifiers.

Description

【発明の詳細な説明】 （産業上の利用分野） 本発明は、工作機械および産業用ロボット等に使用され
る永久磁石式三相同期電動機を°制御する交流サーボア
ンプの保護回路に関するものである。[Detailed Description of the Invention] (Industrial Application Field) The present invention relates to a protection circuit for an AC servo amplifier that controls a permanent magnet three-phase synchronous motor used in machine tools, industrial robots, etc. .

（従来例の構成とその問題点） 第１図は従来の交流サーボアンプの構成を示すブロック
図であり、ｌは永久磁石式三相同期電動機、２は速度検
出装置、３は第１の比較器、４は第２の比較器、５は第
３の比較器、６は第４の比較器、７は速度指令回路、８
は速度制御アンプ、９は混合器、１０は第１の電流制御
アンプ、１１は第２の電流制御アンプ、１２は第３の電
流制御アンプ、１３はパルス幅変調制御回路、１４は第
１の電流検出装置（Ｃ，Ｔ）、１５は第２の電流検出装
置、１６は第３の電流検出装置、１７は位置検出装置で
ある。(Conventional configuration and its problems) Figure 1 is a block diagram showing the configuration of a conventional AC servo amplifier, where l is a permanent magnet three-phase synchronous motor, 2 is a speed detection device, and 3 is a first comparison. 4 is a second comparator, 5 is a third comparator, 6 is a fourth comparator, 7 is a speed command circuit, 8
9 is a speed control amplifier, 9 is a mixer, 10 is a first current control amplifier, 11 is a second current control amplifier, 12 is a third current control amplifier, 13 is a pulse width modulation control circuit, and 14 is a first current control amplifier. Current detection devices (C, T), 15 is a second current detection device, 16 is a third current detection device, and 17 is a position detection device.

このように構成された従来例は、永久磁石式三相同期電
動機１の回転速度を直結された速度検出装置２で検出し
、その出力を速度フィートノ（ツク信号として第１の比
較器３に入力して、速度指令回路７からの速度指令信号
との偏差をめる。そして、前記第１の比較器３の出力を
速度制御アンプ８を介して混合器９に入力する。前記永
久磁石式三相同期電動機１の回転子の位置を直結された
位置検出装置１７で検出し、その出力を位置フィードバ
ック信号とし前記混合器９に入力し、前記永久磁石式三
相同期電動機１の三相巻線に流す三相交流電流指令信号
を各々°求°める。そして、前記混、合冊９の三相交流
電流指令信号の各々を第２、第３、第４の比較器４，５
．６に入力し、前記第２、第３、第４の比・較器４，５
．６において前記永久磁石式三相同期電動機１に流れる
三相交流電流を検出する第１、第２、第、３の電流検出
装置１４゜１５．１６からの三相交流フィードツクツク
信号との差をめる。前記第２、第３、第４の比較器４゜
５．６の出力を第１、第２、第３の電流制御アンプ１０
．１１．’１’２を介してパルス幅変調制御回路１３に
入力して、その出力−より前記永久磁石式三相同期電動
機１を制御し、駆動させる。In the conventional example configured in this way, the rotational speed of the permanent magnet three-phase synchronous motor 1 is detected by a directly connected speed detection device 2, and its output is input to the first comparator 3 as a speed signal. Then, the deviation from the speed command signal from the speed command circuit 7 is calculated.Then, the output of the first comparator 3 is inputted to the mixer 9 via the speed control amplifier 8. The position of the rotor of the phase synchronous motor 1 is detected by a directly connected position detection device 17, and its output is inputted as a position feedback signal to the mixer 9, and the three-phase winding of the permanent magnet three-phase synchronous motor 1 is detected. Each of the three-phase AC current command signals of the mixed and combined volumes 9 is determined by the second, third, and fourth comparators 4, 5.
．． 6, and the second, third and fourth comparators 4 and 5
．． 6, the difference between the three-phase AC feed detection signals from the first, second, third, and third current detection devices 14° 15.16 that detect the three-phase AC current flowing through the permanent magnet three-phase synchronous motor 1 is determined. Melt. The outputs of the second, third and fourth comparators 4°5.6 are connected to the first, second and third current control amplifiers 10.
．． 11. It is input to the pulse width modulation control circuit 13 via '1' and '2', and the permanent magnet three-phase synchronous motor 1 is controlled and driven by its output.

上記のような従来の交流サーボアンプは、前記位置検出
装置１７の誤配線があると、サーボ系の三相交流電流指
令信号の位相がずれて、前記永久磁石式三相同期電動機
１の同期外れが発生する。In the conventional AC servo amplifier as described above, if there is incorrect wiring of the position detection device 17, the phase of the three-phase AC current command signal of the servo system shifts, and the permanent magnet three-phase synchronous motor 1 becomes out of synchronization. occurs.

同期外れが発生すると、前記永久磁石式三相同期電動機
１の竺相巻線のうち一相に大電流が流れ続けて前記永久
磁石式三相同期電動機１が異常発熱する。When out-of-synchronization occurs, a large current continues to flow through one phase of the phase winding of the permanent magnet three-phase synchronous motor 1, causing the permanent magnet three-phase synchronous motor 1 to generate abnormal heat.

そこで従来、前記位置検出装置１７の誤配線による前記
永久磁石式三相同期電動機１の同期外れを防止するため
に、その永久磁石式三相同期電動機１の回転子軸を手で
回転させて前記位置検出装置１７を動作きせ、前記位置
検出装置１７からの位置フィードバック信号の位相をオ
シロスコープで確認して、前記位置検出装置１７の誤配
線を防止していた。Conventionally, in order to prevent the permanent magnet three-phase synchronous motor 1 from becoming out of synchronization due to incorrect wiring of the position detection device 17, the rotor shaft of the permanent magnet three-phase synchronous motor 1 is manually rotated. The position detecting device 17 is operated and the phase of the position feedback signal from the position detecting device 17 is checked with an oscilloscope to prevent incorrect wiring of the position detecting device 17.

しかしながら、」二記の方法は組立工程や前記永久磁石
式三相同期電動機１の回転子軸を容易に手で回転させる
ことができる装置だけにしか適用することができず、工
作機械や産業用ロボット等においては、前記永久磁石式
三相同期電動機１が組み込まれた後は、前記永久磁石式
三相同期電動機１の回転子軸を手で回転させ、ることは
不可能で、前記位置検出装置１７の配線を確認すること
ができないので、前記永久磁石式三相同期電動機１の同
期外れを未然に防止することができない等の欠点があっ
た。However, the method described in ``2'' can only be applied to an assembly process or a device in which the rotor shaft of the permanent magnet three-phase synchronous motor 1 can be easily rotated by hand; In a robot or the like, after the permanent magnet three-phase synchronous motor 1 is installed, it is impossible to rotate the rotor shaft of the permanent magnet three-phase synchronous motor 1 by hand, and the position detection is impossible. Since the wiring of the device 17 cannot be checked, there are drawbacks such as the inability to prevent the permanent magnet type three-phase synchronous motor 1 from becoming out of synchronization.

（発明の目的） 本発明は、上記従来例の欠点に鑑みてなきれたもので、
位置検出装置の誤配線による永久磁石式三相同期電動機
の同期外れを防止して、永久磁石式三相同期電動機を保
護することができる交流サーボアンプの保護回路を提供
するものである。(Object of the invention) The present invention has been made in view of the drawbacks of the above-mentioned conventional examples.
An object of the present invention is to provide a protection circuit for an AC servo amplifier that can protect a permanent magnet three-phase synchronous motor by preventing the permanent magnet three-phase synchronous motor from going out of synchronization due to incorrect wiring of a position detection device.

（発明の構成） 上記目的を達成するために本発明は、永久磁石式三相同
期電動機と、それに流れる三相交流電・流、回転速度、
および回転子の位置、をそれぞれ検出する電流検出装置
、速度検出装置および位置検出装置を具え、前記電流検
出装置、速度検出装置および位置検出装置からそれぞれ
出力される電流フィードバック信号、速度フィートノく
ツク信号および位置フィードバック信号により前記永久
磁石式三相同期電動機を制御する交流サーボアンプにお
いて、電流投入後一定時間だけ動作するタイマーと、そ
のタイマーによって、それぞれ、前記交流サーボアンプ
の速度指令信号を遮断する第１のスイッチおよび前記交
流サーボアンプに一定な速度指令信号を与える第２のス
イッチと、前記交流す−ボアンプの速度指令信号と前記
速度検出装置からの速度フィードバック信号の差を増幅
する速度制御アンプと、その速度制御アンプの出力信号
を一定な基準信号と比較する第１の比較回路と、前記速
度検出装置からの速度フィードバック信号を微分する微
分回路と、その微分回路の出力信号を一定な基準信号と
比較する第２の比較回路と、前記第１の比較回路の出力
と第２の比較回路の出力信号により異常を判定するアン
ド回路と、そのアンド回路の出力により前記交流サーボ
アンプの出力を遮断する出力遮断回路とから成り、前記
位置検出装置の誤配線を電源投入後一定時間内に前記ア
ンド回路で検知して、前記永久磁石式三相同期電動機を
保護する構成とした交流サーボアンプの保護回路である
。(Structure of the Invention) In order to achieve the above object, the present invention provides a permanent magnet type three-phase synchronous motor, a three-phase alternating current/current flowing therein, a rotation speed,
a current detection device, a speed detection device, and a position detection device that respectively detect the current detection device, the speed detection device, and the position detection device, and a current feedback signal and a speed foot check signal output from the current detection device, the speed detection device, and the position detection device, respectively. and an AC servo amplifier that controls the permanent magnet three-phase synchronous motor using a position feedback signal, a timer that operates for a certain period of time after the current is turned on, and a timer that operates to interrupt the speed command signal of the AC servo amplifier, respectively. a second switch that provides a constant speed command signal to the first switch and the AC servo amplifier; and a speed control amplifier that amplifies the difference between the speed command signal of the AC servo amplifier and the speed feedback signal from the speed detection device. , a first comparison circuit that compares the output signal of the speed control amplifier with a constant reference signal, a differentiator circuit that differentiates the speed feedback signal from the speed detection device, and a first comparison circuit that compares the output signal of the speed control amplifier with a constant reference signal; a second comparison circuit that compares the output signals with the output signals of the first comparison circuit and the second comparison circuit; an AND circuit that determines abnormality based on the output signals of the first comparison circuit and the output signals of the second comparison circuit; and an output cutoff circuit to protect the permanent magnet type three-phase synchronous motor by detecting incorrect wiring of the position detection device by the AND circuit within a certain period of time after power is turned on. It is a circuit.

（実施例の説明） 第２図は本発明の構成を示す一実施例のブａ２り図であ
って、第１図と同一符号は同一部分を示し、１８は電源
投入後一定時間だけ動作するタイマー、１９は第１のス
イッチ、２０は第２のスイッチ、２１は微分回路、２２
は第２の比較回路、２３は第１の比較回路、２４はアン
ド回路、２５は交流サーボアンプの出力遮断回路、２６
は一定な速度指令信号を与える速度指令回路である。(Description of Embodiment) FIG. 2 is a block diagram of an embodiment showing the configuration of the present invention, in which the same reference numerals as in FIG. Timer, 19 is a first switch, 20 is a second switch, 21 is a differential circuit, 22
2 is a second comparison circuit, 23 is a first comparison circuit, 24 is an AND circuit, 25 is an AC servo amplifier output cutoff circuit, 26
is a speed command circuit that provides a constant speed command signal.

次に、本発明の詳細な説明する。交流サーボアンプに電
源が投入されると、電源投入後一定時間だけ動作するタ
イマー１８によって、前記交流サーボアンプの速度指令
回路７の出力信号を遮断する第１のスイッチ１９が動作
する。同時に前記タイマー１８によって、一定な速度指
令信号を与える速度指令回路２６の出力信号を前記交流
サーボアンプに接続する第２のスイッチ２０が動作する
。Next, the present invention will be explained in detail. When power is turned on to the AC servo amplifier, a first switch 19 that cuts off the output signal of the speed command circuit 7 of the AC servo amplifier is operated by a timer 18 that operates for a certain period of time after the power is turned on. At the same time, the timer 18 operates the second switch 20, which connects the output signal of the speed command circuit 26, which provides a constant speed command signal, to the AC servo amplifier.

前記速度検出装置２からの速度フィードバック信号を微
分回路２１を介して第２の比較回路２２に入力し、前記
永久磁石式三相同期電動機１の動きを判別する。A speed feedback signal from the speed detection device 2 is inputted to a second comparison circuit 22 via a differentiating circuit 21 to determine the movement of the permanent magnet three-phase synchronous motor 1.

前記永久磁石式三相同期電動機１が一定回転数で回転し
ているか、停止している場合には、前記第２の比較回路
２２の出力は”ハイ“となる。また、前記永久磁石式三
相同期電動機１の回転が加速中または、減速中には、前
記第２の比較回路２２の出力はＩｌロー”となる。前記
速度制御アンプ８の出力信号を第１の比較回路２３に入
力し、前記永久磁石式三相同期電動機１の動きを判別す
る。When the permanent magnet type three-phase synchronous motor 1 is rotating at a constant rotation speed or is stopped, the output of the second comparison circuit 22 becomes "high". Further, when the rotation of the permanent magnet three-phase synchronous motor 1 is accelerating or decelerating, the output of the second comparator circuit 22 becomes "Il low".The output signal of the speed control amplifier 8 is The motion of the permanent magnet three-phase synchronous motor 1 is determined.

前記永久磁石式三相同期電動機１を一定回転数で回転さ
せている場合と、停止させている場合には、前記第１の
比較回路２３の出力は”ロー”となる。When the permanent magnet type three-phase synchronous motor 1 is rotating at a constant rotation speed and when it is stopped, the output of the first comparison circuit 23 is "low".

また、前記永久磁石式三相同期電動機１の回転を加速・
減速している場合には、前記第１の比較回路２３の出力
は１ノ・イ”となる。前記第１の比較回路２３と前記第
２の比較回路２２の出力をアンド回路２４に入力し、前
記第１の比較回路２３と前記第２の比較回路２２の出力
が共に１ノ・イ１の場合、前記アンド回路２４ハ、交流
ツーボアンプの出力遮断回路２５を動作させて、サーボ
アンプの出力を遮断する。前記位置検出装置１７が正し
く接続されている場合は、前記タイマー１８が動作して
いる時は、前記第１の比較回路２３の出力は■ハイ”、
前記第２の比較回路２２の出力は１０−“で、前記アン
ド回路２４は、交流サーボアンプ出力遮断回路２５を動
作源せない。前記位置検出装置１７が誤配線されている
場合は、前記タイマー１８が動作している時は、前記第
１の比較回路２３の出力は０ハイ”、前記第２の比較回
路２２の出力は”ハイ“となり、前記アンド回路２４は
交流サーボアンプ出力遮断回路２５を動作させて、交流
サーボアンプの出力を遮断する。Further, the rotation of the permanent magnet three-phase synchronous motor 1 is accelerated and
When the speed is decelerating, the output of the first comparison circuit 23 becomes 1 no. The outputs of the first comparison circuit 23 and the second comparison circuit 22 are input to an AND circuit 24. If the outputs of the first comparator circuit 23 and the second comparator circuit 22 are both 1 no. If the position detection device 17 is properly connected and the timer 18 is operating, the output of the first comparison circuit 23 will be "high";
The output of the second comparator circuit 22 is 10-'', and the AND circuit 24 does not operate the AC servo amplifier output cutoff circuit 25. If the position detection device 17 is incorrectly wired, the timer 18 is operating, the output of the first comparator circuit 23 is "0 high", the output of the second comparator circuit 22 is "high", and the AND circuit 24 is connected to the AC servo amplifier output cutoff circuit 25. to cut off the output of the AC servo amplifier.

以上の動作を、電源投入後一定時間動作するタイマー１
８の動作時間内に行なうので、前記位置検出装置１７の
誤配線による前記永久磁石式三相同期電動機１の同期外
れを未然に防止することができる。A timer 1 that operates for a certain period of time after the power is turned on performs the above operations.
Since this is carried out within the operating time of 8, it is possible to prevent the permanent magnet type three-phase synchronous motor 1 from becoming out of synchronization due to incorrect wiring of the position detecting device 17.

（発明の効果） 以上説明したように、本発明は、電源投入時に位置検出
装置の誤配線を検出し、変流サーボアンプの出力を遮断
す′るので、永久磁石式三相同期電動機の位置検出装置
の誤配線による同期外れを未然に防止し、永久磁石式三
相同期電動機を保護することができる利点がある。(Effects of the Invention) As explained above, the present invention detects incorrect wiring of the position detection device when the power is turned on, and cuts off the output of the current transformer servo amplifier. This has the advantage of preventing loss of synchronization due to incorrect wiring of the detection device and protecting the permanent magnet three-phase synchronous motor.

【図面の簡単な説明】[Brief explanation of drawings]

第１図は従来の交流サーボアンプの構成を示すブロック
図、第２図は本発明の構成を示す一実施例のブロック図
である。 １・・・・・・・・・永久磁石式三相同期電動機、　２
・・・・・・・・・速度検出装置、　３〜６・・・・・
・・・・比較器、　７・・・・・・・・・速度指令回路
、　８・・・・・・・・速度制御アンプ、９・・・・・
・・・混合器、ｌＯ〜１２・・・・・・・・・電流制御
アンプ、１３・・・・・・・・・パルス幅変調制御回路
、１４〜１６・・・・・・・・・電流検出装置（Ｃ，Ｔ
　）、１７・・・・・・・・・位置検出装置、１８・・
・・・・・・・タイマー、１９．２０・・・・・・・・
・スイッチ、２１・・・・・・・・・微分回路、２２．
２３・・・・・・・・・比較回路、２４・・・・・・・
・・アンド回路、２５・・・・・・・・・出力遮断回路
、２６・・・・・・・・・速度指令回路。 特許出願人　松下電器産業株式会社FIG. 1 is a block diagram showing the configuration of a conventional AC servo amplifier, and FIG. 2 is a block diagram of an embodiment showing the configuration of the present invention. 1...Permanent magnet type three-phase synchronous motor, 2
......Speed detection device, 3-6...
...Comparator, 7...Speed command circuit, 8...Speed control amplifier, 9...
...Mixer, lO~12...Current control amplifier, 13...Pulse width modulation control circuit, 14-16... Current detection device (C, T
), 17... Position detection device, 18...
・・・・・・・Timer, 19.20・・・・・・・
・Switch, 21... Differential circuit, 22.
23...Comparison circuit, 24...
...AND circuit, 25...Output cutoff circuit, 26... Speed command circuit. Patent applicant Matsushita Electric Industrial Co., Ltd.

Claims (1)

【特許請求の範囲】 永久磁石式三相同期電動機と、それに流れる三相交流電
流、回転速度、および回転子の位置、をそれぞれ検出す
る電流検出装置、速度検出す置および位置検出装置を具
え、酌配電流検出装置、速度検出装置および位置検出装
置からそれぞれ出力される電流フィードバック信号、：
速度フィードバラ゛り信号および位置フィードバック信
号により前記永久磁石式三相向“期電動機を・制御する
交流サーボアンプにおいて、電流投入後一定時間だけ動
作するタイマーと、そのタイマーによって、それぞ。 れ、前記交流サーボアンプの速度指令信号を遮断する第
１のスイッチおよび前記交・流サーボアンプに一定な速
度指令信号を与える第２のスイッチと、前記交流ザーボ
アンプの速度指令信号と前記速度検出装置からの速度フ
ィードバック信号の差を増幅する速度制御アンプと、そ
の速度制御アンプの出力・信号を一定な基準信号と比較
する第１の比較回路と、前記速度検出装置からの速度フ
ィードバック信号を微分する微分回路と、その微分回路
の出力信号を一定な基準信号と比較する第２の比較回路
と、前記第１の比較回路の出力と第２の比較回路の出力
信号により異常を判定するアンド回路と、そのアンド回
路の出力により前記交流サーボアンプの出力を遮断する
出力遮断回路とから成り、前記位置検出装置の誤゛配−
を電源投入後一定時間内に前記アンド回路で検知して、
前記永久磁石式三相同期電動機を保護することを特徴と
する交えサーボアングの保護回路。[Scope of Claims] A permanent magnet three-phase synchronous motor, a current detection device, a speed detection position, and a position detection device that respectively detect the three-phase alternating current flowing therein, the rotation speed, and the position of the rotor, Current feedback signals output from the coordinating current detection device, speed detection device, and position detection device, respectively:
In the AC servo amplifier that controls the permanent magnet three-phase motor using a speed feed variation signal and a position feedback signal, a timer that operates for a certain period of time after the current is turned on, and a timer that operates, respectively. a first switch that cuts off a speed command signal of the AC servo amplifier; a second switch that provides a constant speed command signal to the AC servo amplifier; and a speed command signal of the AC servo amplifier and the speed from the speed detection device. a speed control amplifier that amplifies the difference between the feedback signals; a first comparison circuit that compares the output/signal of the speed control amplifier with a constant reference signal; and a differentiation circuit that differentiates the speed feedback signal from the speed detection device. , a second comparison circuit that compares the output signal of the differentiating circuit with a constant reference signal, an AND circuit that determines an abnormality based on the output of the first comparison circuit and the output signal of the second comparison circuit, and the AND circuit. and an output cutoff circuit that cuts off the output of the AC servo amplifier according to the output of the circuit, and the output cutoff circuit cuts off the output of the AC servo amplifier.
is detected by the AND circuit within a certain period of time after the power is turned on, and
A protection circuit for a replacement servo angle, which protects the permanent magnet three-phase synchronous motor.
JP59027335A 1984-02-17 1984-02-17 Protecting circuit of ac servo amplifier Pending JPS60174092A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP59027335A JPS60174092A (en) 1984-02-17 1984-02-17 Protecting circuit of ac servo amplifier

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP59027335A JPS60174092A (en) 1984-02-17 1984-02-17 Protecting circuit of ac servo amplifier

Publications (1)

Publication Number Publication Date
JPS60174092A true JPS60174092A (en) 1985-09-07

Family

ID=12218191

Family Applications (1)

Application Number Title Priority Date Filing Date
JP59027335A Pending JPS60174092A (en) 1984-02-17 1984-02-17 Protecting circuit of ac servo amplifier

Country Status (1)

Country Link
JP (1) JPS60174092A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62104491A (en) * 1985-10-31 1987-05-14 Secoh Giken Inc Semiconductor motor

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62104491A (en) * 1985-10-31 1987-05-14 Secoh Giken Inc Semiconductor motor

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