| 摘要 |
PURPOSE:To perform a control at a high speed and with high accuracy without putting a load due to forcible acceleration/deceleration on a machine, by calculating a change quantity in the acceleration at every sampling period, forming a new command value to smooth the change quantity when the change quantity goes over a prescribed value, and supplying the command value directly to a driving control part. CONSTITUTION:The size of the acceleration by every sampling period set in advance for respective axis is found in a range permitted to said command value from a control command value for respective axis. 9X and 9Y are arithmetic parts to find the acceleration. 10X and 10Y are change quantity arithmetic parts to calculate the difference between preceding and succeeding acceleration corresponding to a prescribed time or distance, that is the change quantity in the acceleration, in the acceleration at every sampling period obtained at the acceleration arithmetic part, and when the outputs of the arithmetic parts 10X and 10Y exceed the prescribed value, they are smoothed in the range permitted in control accuracy, and control output command values are generated at command value generating parts 11X and 11Y, and the outputs of the 11X and the 11Y are supplied to driving control parts 4X and 4Y.
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