| 摘要 |
Abnormality of a position error is quickly detected in a control device in which feedforward control is introduced. A position error estimation processing unit calculates a position error estimation value Err, for example, from the equation V/PGx(1-alpha) (V: first order differential of position command, PG: position gain in position controller, alpha: feedforward coefficient in feedforward term calculating unit), and abnormality of the position error is detected using an excessive-error detection level calculating by adding a margin DeltaE to the position error estimation value.
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