| 摘要 |
PROBLEM TO BE SOLVED: To provide a control device capable of executing control at a high speed and high accuracy without being influenced by disturbance such as generat ed lost motion in transmitting the rotation of a motor to a part fitting head through a belt. SOLUTION: The control device includes a full closed(FC) desired angle generation part 150 for calculating an FC controlling desired value rfc from a sensor desired value rg , a control operation part 120 for executing two-freedom degree PID control, a desired value switching processing part 160, and a desired value switching circuit 110. The processing part 160 outputs a motor desired angle rm from the circuit 110 before a part fitting head 90 to be controlled arrives at a settling range to allow the operation part 120 to execute semi-closed control using the motor desired angle rm . After the arrival of the head 90 at the settling range, the processing part 160 outputs an FC controlling desired value rfc from the circuit 110 to allow the operation part 120 to execute full closed control using the value rfc . |
