| 摘要 |
PROBLEM TO BE SOLVED: To shorten acceleration time and to easily shorten positioning by selecting an optimum command value from the two kinds of position command values to be equal acceleration and exponential acceleration. SOLUTION: In the case of discriminating that it is an acceleration mode, a difference between a present speed unit N(n) and a function changeover speed unit amount Nc parameter-set in a function changeover speed storage part is computed and the polarity is discriminated (S10). In the case that an arithmetic result becomes <0 (N(n)<Nc), an acceleration unit amount ΔNaa parameter- set in an acceleration storage part is added to the present speed unit amount N(n) and a first position command N'(n+1) is calculated (S11). In the case that the arithmetic result becomes >=0, an exponential acceleration unit amount ΔNe(n) is computed and added to the present speed unit amount N(n) and a second position command N'(n+1) is calculated (S12 and 13). Then, the difference between the calculated N'(n+1) and a maximum speed unit amount Nmax parameter-set in a maximum speed storage part is computed and the polarity is discriminated. |
