CONTROL SYSTEM HAVING ERROR CORRECTING APPARATUS

摘要

A servomotor driven machine (400) under control of a control system (20) which compensates for the slip and other errors associated with indirectly driving a movable component (170) of the machine with a servomotor (90) is set forth. The control system includes a servomotor that is connected through an intermediate drive mechanism (100) to drive the movable component from a start position (175) to an end position (180). A sensing system (140, 145) is disposed on the apparatus for generating an output signal indicative of at least one motion characteristic of the movable component. A controller drives the servomotor in accordance with a predetermined motion profile. The predetermined motion profile defines the motion characteristics of the movable component as the movable component moves from the start position to the end position within a predetermined time frame (t). The controller is responsive to the output signal of the sensing system to compensate for movement errors caused by the intermediate drive mechanism by deviating from the predetermined motion profile.