| 摘要 |
PROBLEM TO BE SOLVED: To suppress overshoot and to reduce cycle time, in a position control device for moving and stopping a machine to be controlled at a target position. SOLUTION: A feedforward control block 27a has a function of outputting a value obtained by multiplying a position command value from a position command block 21 by a feedforward gain set and output by a feedforward setting means 41, as a new correction amount. When the position control device 40 starts positioning control operation, the feedforward setting means 41 monitors the change of pulse frequency while determining a speed command operation value based on the change of pulse frequency included in a pulse train type position command value from a position command block 21, and sets a smaller feedforward gain to the feedforward control block 27a when the speed command operation value is smaller than a predetermined switching set value. Overshoot at the end of positioning is thereby suppressed, and cycle time from the start of positioning to the end can be reduced. COPYRIGHT: (C)2011,JPO&INPIT |
