| 摘要 |
When contents of a program for machining to be executed by a servomotor indicate a cutting mode, a current command is generated by performing speed loop processing by using a speed loop gain for cutting mode, and moreover, a voltage command to a servo amplifier is generated by performing proportional-plus-integral (PI) current loop processing in accordance with the generated current command. On the other hand, when the contents of the machining program indicate a positioning mode, a current command is generated by performing speed loop processing by using a speed loop gain for positioning mode, and moreover, a voltage command to the servo amplifier is generated by performing integral-plus-proportional (I-P) current loop processing in accordance with the generated current command.
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