| 摘要 |
PROBLEM TO BE SOLVED: To reduce a speed change for smooth transfer when performing servo-on operation to a control shaft coasting in servo-off state, and starting control of a position and a speed. SOLUTION: When a servomotor (the control shaft) 3 coasts and rotates in a servo-off state that current does not flow through the servomotor 3, the servo-on operation is performed to apply the current through the servomotor to start the position/speed control. A position/speed detector 4 acquires an actual speed in the servo-on state by a speed acquisition means 13, and a position instruction means 12 finds an instruction movement amount with the actual speed as an initial speed. A position difference amount according to the actual speed is calculated (14), the instruction movement amount, the position difference amount and a value obtained by inverting a code of the position difference amount left in a position difference counter 21 in the servo-on state are added (15, 16), and it is defined as an instruction amount to the position difference counter 21. Thereby, the control of the position and the speed is started with a coasting speed in the servo-on state as the initial speed, and the position/speed control can be smoothly started without the speed change. COPYRIGHT: (C)2007,JPO&INPIT
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