| 摘要 |
PURPOSE: To make a fixed value with remarkably little error from a primary stage by resetting a drift compensation value every time of stopping after the moving of a servomotor even when the error between the desired position and the present position of the servomotor is within an allowable error. CONSTITUTION: After the turning-on of the servomotor M, a drift compensation value at the time of first stoppage is set to change the value of an integration limiting device 13 to a value generating no vibration when the motor is stopped. After this, a present position which the servomotor M moves to is detected to be fed back to a first totalling device G3. When the motor M stops at K-th after moving similarly, if the rate feedback signal of the motor M is inputted, a new drift compensation value is reset by adding the former drift compensation value. Namely, whenever the servomotor M moves and stops, the desired position and the present position are compared with each other and even when the error is within the allowable error range, the output of the integration limiting device 13 is added to the former drift compensation value to calculate new data to control the motor. |
