| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To suppress any impact which occurs in a movable shaft or excited vibration as much as possible even when a target position is changed, and to execute an interpolating operation until reaching the changed target position. <P>SOLUTION: A command generation device includes: a command speed calculation part for calculating a speed command calculation value vr for each movable shaft so that a gap between a target position X and a current position C of a movable shaft can be interpolated; a speed changing amount calculation part for calculating a speed changing amountΔv as a difference between the previously output speed command output value vo and the speed command calculation value vr for each movable shaft; a correction gain calculation part for calculating one correction gain R to restrict the speed changing amountΔv so that all the speed changing amountsΔv of each movable shaft can be set to values which do not exceed an allowable speed changing amount Vm; and a command speed output part for adding a value calculated by restricting the speed changing amountΔv by a correction gain R and a previously output speed command output value vo, and for calculating the speed command output value vo to be output next for each movable shaft. <P>COPYRIGHT: (C)2013,JPO&INPIT</p> |
