| 摘要 |
PROBLEM TO BE SOLVED: To provide a highly accurate command generation device for positioning control.SOLUTION: A command generation device 1 for control includes: a calculation part 11 for calculating a command value on the basis of an elapsed time, speed, acceleration time and jerk time; an acceleration time calculation part 12 for outputting a command value in an accelerating operation time to make the calculation part calculate the elapsed time as an elapsed time in each predetermined cycle since a command is started, the speed as a target speed and the jerk time as jerk time in the accelerating operation time; a moving amount calculation part 13 for outputting a command value as moving amounts necessary for stop to make the calculation part calculate the elapsed time and the acceleration time as deceleration time and the jerk time as jerk time in a decelerating operation time; a deceleration start determination part 14 for comparing the residual distance of a difference between target amounts and the command value with the moving amounts necessary for stop to determine the start of deceleration; and a deceleration control part 15 for, when determining the start of deceleration, outputting the command value of deceleration by using the calculation result of the calculation part. |
