Motor control device, motor device, motor control method, lifting device

摘要

To provide a motor controller for not only controlling torsional torque but also performing operation in which speed and a position are limited.SOLUTION: A motor controller 2 is connected to a motor unit 3, a torque detector 6 for detecting torsional torque made to be generated in an output shaft of the motor unit 3, and a position detector 4 for detecting a rotational position of the motor unit 3 to control the motor unit 3, including: a torque controller 20 for calculating a first control value based on a torsional torque value from the torque detector 6 according to a torque target value; a limited speed setting unit 24 for setting a limited speed value of the motor unit 3; a limited speed correction unit 25 for comparing a converted speed value with the limited speed value based on a positional value from the position detector 4 to calculate a speed correction value; and a motor control command unit 29 for calculating a current command value to be output to the motor unit 3 based on a second control value obtained by subtracting the speed correction value from a first control value.SELECTED DRAWING: Figure 2