| 摘要 |
PURPOSE:To stop an object at a place not beyond a desired position, by measuring an acceleration time to discriminate an excessive load and by setting a deceleration automatically to be equal to an acceleration which can be actually performed. CONSTITUTION:A positioning controller is composed of a fixed deceleration storage unit 1, a positioning speed reference arithmetic unit 3, an acceleration or deceleration limiting circuit 4, a driving controller 6, a position detector 9, and the like, and a motor 7 is stopped at a desired position So. In this case, in addition to them, a differentiator 10, a discriminator 11 during acceleration, a timer 12, a deceleration arithmetic unit 13, an accelerating time discriminator 14, and switches 15-16 are arranged. Then, it is discriminated by said discriminator 14 that an accelerating time is over a previously set maximum accelerating time, and a deceleration is switched to a deceleration on which arithmetic is performed by the deceleration arithmetic unit 13, from a fixed deceleration, by the change-over switch 15, and is applied to said reference arithmetic unit 3. Then, also in case that a load exceeding a driving gear capacity is loaded, positioning can be performed.
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