| 摘要 |
PROBLEM TO BE SOLVED: To provide a method for creating commands of a position controller capable of creating position commands such that superimposed speeds become continuous even if commands are continuously provided to a second moving block during the movement of a preceding first moving block. SOLUTION: When commands are continuously provided to the second moving block during the movement of the preceding first moving block, a specific time during the movement of the first moving block is set as the time to start the movement of the second moving block. The amount of movement in a section from the time to start the movement to a sampling time immediately after it is set as the amount of movement of the second moving block in the current sampling period. The sum of the amount of movement of the first moving block and the amount of movement of the second moving block in the current sampling period is calculated as the amount of movements in the current sampling period. COPYRIGHT: (C)2006,JPO&NCIPI
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