| 摘要 |
PURPOSE: To recover the phase deviation even if an error pulse occurs within one revolution of a machine shaft. CONSTITUTION: A servo motor rotates in response to a correcting speed command VS, and a rotary encoder outputs a detection pulse PD in response to the rotation of a machine shaft rotating by the motor. The difference of the number of pulses between reference pulses X and detected pulses PD responsive to a speed command V is obtained by a deviation counter 110 as a deviation counted value. On the other hand, counted error values CX, Cp corresponding to the erroneous pulse are obtained by counted error detectors 120, 130, the value C is corrected by the values CX and Cp by a deviation count corrector 140 to obtain a corrected deviation counted value CS. The speed VC corresponding to the value CS is added to the command V to obtain a correct speed command VS. |
