Method for movement controlling of machine e.g. packaging machine, involves controlling operation of drive device based on moment of inertia of driven element, so as to reduce tracking error relative to desired movement path

摘要

The method involves driving a driven element (12) along predetermined path with predetermined torque curve by drive device (2) such as servomotor. The drive device is controlled so that predetermined path is equal to predetermined desired movement path. The cyclic characteristic of the driven element is detected. The moment of inertia of driven element is determined using size and acceleration reference value of driven element. The operation of the drive device is controlled based on moment of inertia of driven element, so as to reduce tracking error relative to desired movement path. Independent claims are included for the following: (1) machine; and (2) drive device.