| 摘要 |
PURPOSE:To shorten the working time by determinining an optimal acceleration/ deceleration time constant by a moving amount, a load, etc., at every block with respect to an acceleration/deceleration time constant of a servomotor for controlling an operation of a movable part of a machine tool. CONSTITUTION:From a distance to a moving target position, whether a speed reaches a command speed Vt or not is discriminated (step S1), and when it reaches, the command speed Vt is set as V (step S2), and otherwise, an arrival speed Vu is derived (step S3), and its value is set as V (step S4). Subsequently, from a torque curve, the maximunm torque Tmax corresponding to the speed V is derived (step S5), and based on this maximum torque Tmax, an acceleration torque Ta is derived (step S6). Also, acceleration (a) is derived (step S7), and from the acceleration (a) and the speed V, an acceleration/deceleration time constant gamma is derived (step S8). Next, the largest gamma in all driving shafts is set as an acceleration/deceleration time constant of each shaft (step S9). Accordingly, an optimal acceleration/deceleration time constant can be determined, and the working time can be shortened. |
