| 摘要 |
PURPOSE:To shorten the time needed for a moved object to reach an optional target position. CONSTITUTION:An optical disk auto-changer 20 includes a storing shelf 15 which contains plural cells 15a storing optical disk cartridges 25, an optical disk drive device 24, a transfer mechanism 16 which transfers the cartridges 25 between the shelf 15 and the device 24, and a DC servo motor 1 which drives the mechanism 16 via a belt 17 extended between the pulleys 18 and 19. When the mechanism 16 transfers a cartridge 25 to a cell 15a (No. n) from the device 24, a transfer instruction is first received from a host device 23. Then a logic circuit 21 calculates a moving distance Lr and sets a target velocity profile so that both acceleration and deceleration are reduced as the velocity is increased. Then a motor drive circuit 22 drives the motor 1 from a start point to a target point based on the target velocity profile. |
