| 摘要 |
PROBLEM TO BE SOLVED: To provide a master/slave type positioning control system capable of restraining a rapid change of the output direction of a torque command in an abnormal state that disturbance is ocurring. SOLUTION: In this electronic parts mounting device C equipped with a master/slave type XY positioning controller D for mounting electronic parts 21 on a circuit board 22, compared with an accelerating direction or decelerating direction of an acceleration command obtained by differentiating the position command of a target position and a speed command calculated from a position feedback signal outputted from a Y axis linear encoder 7 when an abnormal state that the output direction of a torque command calculated from the position command, the position feedback signal and the speed feedbacks signal being the differential value is inverted, and that the change width of the torque command is larger than a set value is detected, the change width of the torque command is suppressed so as to be lower than the set value, and the torque command is inputted to the Y axis linear motors 5A and 5B. |
