| 摘要 |
PROBLEM TO BE SOLVED: To provide a position command creating method and device giving less shock to a motor and a machine connected to the motor by reducing a jerk. SOLUTION: In a process of creating a position command for accelerating until a position command differential speed which is a difference between a current value and a previous value of the position command reaches the specified speed according to specified acceleration on every command cycle, when a deceleration stop cannot be made at a specified position at a reduced speed if the position command differential speed is further accelerated, the position command is created to obtain the position command differential speed to make the deceleration stop at the command position at the reduced speed. Further, when the jerk at the peak of a speed pattern formed by a relationship between the position command differential speed and a positioning time is larger than a jerk limit value given in advance by a program, the position command is created so that the jerk is a jerk limit value or less. COPYRIGHT: (C)2009,JPO&INPIT
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