| 摘要 |
PURPOSE:To prevent a load to be put on a machine side, by calculating a change quantity in acceleration at every interval lock from the original command values of a position and a speed, etc., and forming new command values based on the above calculation. CONSTITUTION:In the titled method, a numerical controller 1 consisting of a computer, etc., mainly, and an interface part 2 are provided, and controls for the movement and the stop, etc., of controlled systems 6X-6Y for respective axis are performed through error counters 3X-3Y, servo driving circuits 4X-4Y, and servomotors 5X-5Y. At such a time, the acceleration for respective axis by every interval lock is found from a control command value for respective axis at an arithmetic part 9 in a range permitted to the part. Also, a difference (change quantity) between a preceding and a succeeding acceleration values by every interval lock is calculated by providing change quantity arithmetic parts 10X-10Y, and based on the difference, the control command values for the position and the speed are calculated at a command value arithmetic parts 11X-11Y. As a result, the control can be performed considering an actual accelerating state at a controlled system side.
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