| 摘要 |
<P>PROBLEM TO BE SOLVED: To stably control an object to be controlled even when external force of vibrations, etc., is applied thereto. <P>SOLUTION: A command speed 1001 is generated according to a speed profile corresponding to a target speed of a mechanism, the speed 1002 of the mechanism is detected at prescribed intervals, and limit values 1004A and 1004B to a detected speed are set. When a detected speed exceeds the limit values, motor driving 1003 is controlled in accordance with difference between the limit values and the command speed, and in the cases other than that, the motor driving is controlled in accordance with difference between a detected speed and the command speed. <P>COPYRIGHT: (C)2005,JPO&NCIPI |
