| 摘要 |
<p>PROBLEM TO BE SOLVED: To surely execute the loading/unloading operation even though the load of mechanism is made larger than a certain amount due to the environmental change or secular change at the time of loading or unloading operation. SOLUTION: The stop of a loading motor 3 is detected by an FG detecting circuit 7, and a signal (i) such as slowly rising at only the time of stopped state is made out in an integration circuit 5. By adding this signal (i) to the motor torque command (d) by an adder 4, the voltage added to a driving circuit 2 is increased by the level amount of this signal (i). As the result, the torque of the loading motor 3 is increased and the rotation of the loading motor 3 starts again, then the loading/unloading operation is surely executed.</p> |
