METHOD FOR CONTROLLING SERVO MECHANISM FLEXIBLY

摘要

When flexible control starts, the position gain Kp and the proportional gain K2 of the loop for speed control are set, and then, reduced in accordance with the degree of flexibility. The output of the integrator (2) in the speed control loop is limited to a preset clamping value. As a result, the torque instruction does not become a particularly great value even if the positional deviation increases. Therefore, if there is an obstacle in the traveling path of a movable body driven by the servomotor, it is possible to manually move the movable body to allow the body to go around this obstacle.