| 摘要 |
PROBLEM TO BE SOLVED: To realize a stable control at the time when control is changed from speed control to position control. SOLUTION: When a carriage is under an accelerating state and in a constant speed state, a speed control processing part 3 calculates a speed error of an actual speed to a predetermined command speed so as to obtain the speed controlled variable Vc(t) of the carriage in accordance with the speed error. When the carriage is under a decelerating state, a position control processing part 2 calculates a positional error of an actual position to a predetermined command position so as to obtain speed controlled variable Vc(t) of the carriage in accordance with the positional error. In response to these speed controlled variable Vc(t), a carriage motor is controlled. At the time when the carriage is changed from its constant speed state to its decelerating state, the position control processing part 2 calculates the speed controlled variable Vc(t) by nulling the calculated positional error. |
