| 摘要 |
PROBLEM TO BE SOLVED: To make removable vibration and time delay relating thereto at the same time by attenuating a vibration frequency component of a convolution output only with a convolution pattern. SOLUTION: The vibration frequency component of the convolution output is attenuated only with the convolution pattern. In this device, a main control part 801 controls the whole system and provides to other device elements the number of acceleration/deceleration sections of a motor, the vibration frequencies in the acceleration/deceleration sections, convolution pattern data used in the acceleration/deceleration sections, etc., that a user has set and inputted in advance. A convolution pattern generation part 802 generates convolution patterns according to the data provided by the main control part 801. A convolution part 805 performs convolution to convert a speed instruction to a position instruction and then provide it for a servo 806.
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