| 摘要 |
PROBLEM TO BE SOLVED: To prevent the occurrence of overshoot when the servomotor moves and stops and to prevent the degradation of positioning precision at the time of positioning. SOLUTION: While there is a move command, a flat F is set to '0' to perform speed loop processes as ordinary proportional integral processes, and a torque command Tc is found and outputted (S1 to S3, S9, S10, S7, and S8). When the move command becomes '0' and position deviation becomes less than set threshold widthε, an integral valueΣn-1 up to a last cycle is multiplied by a coefficient K3 which is less than 1 to obtain a small integral value, and a torque command Tc is found (S5, S6, and S7). Further, the flag F is set to '1'. In subsequent cycles, the ordinary speed loop processes (S10 and S7) are performed. When the move command becomes '0' and the position deviation becomes less than the threshold widthε, the integral value is switched to the small value only once. Consequently, an overshoot is prevented, the position precision is improved, and vibration generation at a stop time can be reduced.
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