| 摘要 |
PROBLEM TO BE SOLVED: To suppress a sudden change of moving speed commands in an overlap part based on a plurality of moving quantity commands by dividing the respective moving quantity commands into a plurality of speed commands being speed distribution changing at every prescribed acceleration on a time sequence. SOLUTION: When a moving quantity command L and a speed command F are inputted, a primary division means 1 divides the moving quantity command L with the speed command F as a unit and sequentially outputs primary division speedΔL based on the respective moving quantity commands. A secondary division means 3 divides the primary division speedΔL with unit speed A stored in a unit speed storage means 2 as the unit and sequentially outputs secondary division speedΔ2 based on respective primary division speedsΔL. Respective secondary division speedsΔL2 are accumulated/added in fine periods for the number of secondary divisions with a speed memory pointed by an iterator storage means 5 as a first one. An output means 6 outputs the accumulation speedΔM of the speed memory, at which pointing by the iterator storage means 5 passes, as the moving speed commands for every fine interval.
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