| 摘要 |
PROBLEM TO BE SOLVED: To provide a motor driven device which can automatically set an actually operated position command and a gain suited for resonance to the like of a mechanical system. SOLUTION: A device comprises a timer 20 measuring an arbitrary time from a position command delivery completion detector 18 and position command delivery completion with an actual position command to be adjusted serving as an adjusting pattern, absolute value integration device 21 integrating an absolute value of a speed deviation during this measurement, absolute value integration device 22 integrating an absolute value of a position deviation during the measurement and gain adjusters 23, 24, 25 automatically adjusting a position loop gain, speed loop gain and a speed loop integration time. Repeated gain adjustment is performed so as to minimize a value of both the integration devices. |
