| 摘要 |
PURPOSE:To attain bumpless function when a plurality of control systems are switched. CONSTITUTION:Outputs from a speed control amplifier 2s and a torque control amplifier 2T are set in same input/output state and output from a hold circuit 16 is held in speed control state for a predetermined time at the time of switching from the speed control amplifier 2s to the torque control amplifier 2T. At the same time, a torque detection value is inputted to a time function circuit 20 and employed as a set value of the torque control amplifier 2T. Upon elapse of a hold interval, the torque set value is inputted to the time function circuit and output therefrom is matched by providing the torque set value with cushion characteristics. |
