| 摘要 |
PROBLEM TO BE SOLVED: To provide a multi-axial controller which can maintain a necessary locus accurecy. SOLUTION: Counters 10 (10X, 10Y, 10Z) are provided for detecting a present position by counting pulses outputted from encoders 9 (9X, 9Y, 9Z) connected to the motors 8 (8X, 8Y, 8Z) of each axis. A speed calculation part 5 is provided for calculating the moving distance of each axis from the coordinates of an order end position and the coordinates of the present position detected by the counter 10 and finding out the speed of each axis from the order speed and the moving distance of each axis calculated. Pulse controllers 6 (6X, 6Y, 6Z) are provided for outputting the speed of each axis outputted from the speed calculation part 5 and the pulse of the frequency in response to the pulse outputted from the encoders 9 to the motors of each axis. Thereby, the close loop of the speed is formed to the pulse controllers 6 and the speed can be controlled without being affected to the calculation processing time of the speed of each axis by the speed calculation part 5 and then the locus accuracy can be maintained.
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