| 摘要 |
PROBLEM TO BE SOLVED: To reduce an effect of rotating operation of each drive shaft on other drive shafts while suppressing vibration of a conveying actuator. SOLUTION: When a right conveying actuator 32 extends and retracts, a controller 12 of a central control unit 10 outputs a position command to move from a retracted position to an extended position to a right conveying actuator controller 30, outputs a position command of angle of 0 degrees to keep the present condition to a rotating actuator controller 40, and outputs a position command of distance of 0 to keep the present condition to a left conveying actuator controller 20. The right conveying actuator controller 30 performs vibration control using a position gain for vibration control, the rotating actuator controller 40 performs maintenance control so that a drive shaft 42-K does not rotate, and the left conveying actuator controller 20 performs maintenance control using a normal position gain so that a drive shaft 22-K does not rotate. COPYRIGHT: (C)2009,JPO&INPIT
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