| 摘要 |
PROBLEM TO BE SOLVED: To provide a machine controller halting a long arm to a target position without being accompanied by vibration even when moving the long arm installed with a heavy object in the tip. SOLUTION: This machine controller 40 has a position regulator 41 having a variable structure of proportional gain in time of regulation operation. The machine controller 40 also has a proportional gain setting means 42 sending an instruction to vary the proportional gain of the position regulator 41 based on a position instruction value which is an output of a position instruction block 24. In the proportional gain setting means 42, when a moving velocity based on the position instruction value from the position instruction block 24 is low, that is, when the position instruction value is a value at which a movement distance is short, the proportional gain of the position regulator 41 is set large. When the moving velocity based on the position instruction value is high, that is, when the position instruction value is a value at which the movement distance is long, the proportional gain is set small. COPYRIGHT: (C)2010,JPO&INPIT
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