| 摘要 |
PURPOSE:To improve the distance accuracy of a traveling equipment regardless of undershoot or overshoot by converting the relation between speed and time in an adjustable-speed section into the relation between speed and theoretical position and by comparing measured position with theoretical position. CONSTITUTION:A speed arithmetic unit 2 receives a traveling distance from a running controller 3, reads data from a storage 1 and prepares a speed pattern of speed to time relations. The speed arithmetic unit 2 performs arithmetic operation in such a manner that the speed to time relations in acceleration section and deceleration section prepare a relation along a sine curve and then covert the speed to time relation into the speed to position relation. The running controller 3 drives a running drive motor 5 in accordance with the speed pattern from the speed arithmetic unit 2. In consequence, the speed output value is retained constant until the measured position catches up with the theoretical positions. Therefore, a running carriage can run in a pattern close to a speed pattern determined by the arithmetic operation regardless of the followability of the motor 5. |
