| 摘要 |
PROBLEM TO BE SOLVED: To solve the problem of a control device of a servomotor for continuous passage control(CP control) with position deviation being increased, when commanded acceleration is changed, and to reduce position deviation, when an acceleration is changed. SOLUTION: A timing, when acceleration of a position command θ* is changed, is detected by a timing generator 15 and, in matching with the changing timing, a correction value is inputted to a position deviation integrating unit 6, so as to reduce the position deviation. With such a constitution, even if acceleration is changed, CP control of higher precision can be realized. |
