| 摘要 |
PURPOSE:To enhance the reproducibility of a torque and a speed by correcting a current command value by a current command compensation signal, thereby correcting a variation in a torque generated in a motor. CONSTITUTION:A current command compensation signal generator 13 measures a time for moving a target measuring distance by a speed command Vref, position command data of target measuring distance l0 and a feedback signal from a position detector 12 to calculate the torque generated in a motor, and integrates the variation in the generated torque to obtain a current command correction signal. A multiplier 14 multiplies an output signal of a clamper 3 with a current command compensation signal from the generator 13 to obtain a current command signal Iref. |
