| 摘要 |
PURPOSE: To reduce an abrupt speed change and a movement shock, eliminate reaction at the time of conveyance by a pulse motor, and improve operability and shorten an operation time by representing time variation in pulse frequency by a trigonometric function. CONSTITUTION: As the time variation in the frequency of pulses generated by the pulse generating circuit, not the sigmoid characteristic using a conventional quadratic function, but a sigmoid characteristic using a trigonometric function pattern is employed. A circular pulse distribution arithmetic circuit 12 generates trigonometric function components. For example, when the speed is varied by varying the target frequency of output pulses in a cosine function curve shape as the trigonometric function pattern, the acceleration obtained by differentiating the speed varies according to a sine function curve as a similar trigonometric function. Therefore, variation in the acceleration becomes smooth even at maximum acceleration and the movement shock due to abrupt speed variation is reducible. Further, smooth variation is obtained even at the start point and end point of the acceleration similarly to the sigmoid acceleration system of the conventional quadratic function pattern. |
