SERVO CONTROLLER, ITS METHOD, ROBOT CONTROLLER, AND ITS METHOD USING THE SERVO CONTROLLER

摘要

PROBLEM TO BE SOLVED: To control a controlled target so that an effective current value related to the target becomes almost equal to a rated current without exceeding it and an acceleration/deceleration curve causing operation exceeding the limit performance of the target is never generated. SOLUTION: A servo controller 1 is provided with an effective value calculating means 8 to calculate the effective value of acceleration (or current) related to operation up to a current point and the effective value of acceleration (or current) related to future operation. A TP andαvalue determining means 5A determines a peak speed arrival time value TP and a time base extending/ reducing parameter a defined by dividing the value TP by a reference value (peak speed arrival time related to a reference function of an acceleration/ deceleration curve) based upon a condition equation that the sum of the effective values is almost equal to a value corresponding to the rated current value of the controlled target and sends the determined values TP,αto an acceleration/deceleration pattern generating means 3. Then an acceleration/deceleration curve regulated by the limit performance of the target is generated and sent to the target.