TAKE-UP CONTROLLER

摘要

PROBLEM TO BE SOLVED: To minimize the extension of an operation cycle time while inhibiting the increase of a capacity of a driving device. SOLUTION: The load torqueτM required to the driving device in accordance with a rotating speed is calculated by adding the torque for acceleration and deceleration and the torque for tension by an adder 111 during the operation, and the drivable torque corresponding to the rotating speed of the driving device is operated by a rewinding drivable torque operating circuit 113. The rewinding driving load torqueτM and the rewinding drivable torqueτD are compared by a rewindable torque allowance operating part 112 to calculate the torque allowance, and a speed change rate is determined in accordance with the torque allowance by a speed change rate allowance operating circuit 114 so that the unwinding driving load torqueτM is not over the rewinding drivable torqueτD at all times.