| 摘要 |
PROBLEM TO BE SOLVED: To shorten the start delay time without causing a speed overshoot even when a new motion instruction is started during the movement of a machine and to improve the efficiency of a device via the shortening of a tact time by calculating a command position at a point of trigger input time. SOLUTION: A start signal reception state is set by a motion start command signal that is inputted at a time Ti and the motion control processing is started. Meanwhile, a due current command position Pi is calculated at the time Ti and the motion control processing is carried out with the position Pi defined as a start point. In other words, a period when a fixed scanning time interval is started before a timer is reset again and then the start command signal of a new motion instruction is interrupted is read from the timer. Then a command position is calculated when a trigger of the time Ti is inputted and the new reset is carried out with this command position defined as a start point. The current command position is corrected with (current command position P-precedent moved variable S×(t1-ti)/t1) defined as a command position that is set when a trigger is inputted at the time Ti.
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