| 摘要 |
<p>Prior to processing, the amount of drift between a commanded position and an actual position at the time of inverting a shift direction is determined and stored in a memory of a drift controller (9). During processing, whether the sign of a shift command Pc is inverted or not is monitored. When inversion of the sign is detected, the amount of drift is added to the shift command so as to correct the shift command value. Then, the difference between the corrected shift command value and a position feedback Pf from a servo motor (5), that is, a corrected positional error Er effects position, velocity and current control (3), thus driving the servo motor (5).</p> |
