Controller with means for determining acceleration

摘要

In a controller, V axis and W axis for driving a driven body (3) are tilting, not orthogonal to each other. An acceleration detector (7) capable of detecting accelerations in a plurality of directions orthogonal to the driven body (3) is arranged so that W-axis direction may meet Y-axis direction of an acceleration detected by the acceleration detector. An acceleration (Av) in the V-axis direction is determined by making calculations from accelerations (Ax,Ay) in X-axis and Y-axis directions detected by acceleration detectors (7). Based on the determined accelerations (Av,Aw) in the V-axis and W-axis directions, a position command, a speed command or a current command to servo motors (2v,2w) driving the V axis and W axis is corrected. Such correction suppresses the driven body (3) from generation of vibrations.