| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a method and an apparatus for quickly obtaining a proper feedback and/or feedforward control parameters. <P>SOLUTION: When the feedback control parameter is adjusted, a position instruction pattern used for a continuously changed adjustment operation is generated and provided as a position instruction of a position controller, a response frequency of the position controller and a speed controller is increased within a range in which a vibrational amplitude of a position error waveform is prevented from exceeding a predetermined value, and the maximum acceleration rate is automatically set. When the feedforward control parameter is adjusted, a plurality of operations are performed in a plurality of the position instruction pattern, and a control parameter of a position feedforward controller is adjusted so as to prevent an overshoot from exceeding the predetermined value. <P>COPYRIGHT: (C)2007,JPO&INPIT |
