| 摘要 |
<p>PURPOSE:To exactly move a moving body to a target position by controlling the extent of rotation of a servo motor with a prescribed control gain with respect to coordinate axes having no response delay and changing the control gain to control this extent of rotation with respect to coordinate axes having response delay. CONSTITUTION:Preliminarily obtained position loop gains Kpx to Kpz are stored in a data ROM 32 of a gain setting part 9, and an address interface 30 designates a prescribed address of a table to output data of position loop gains corresponding to delay times from the ROM 32 to multipliers 24x to 24z of rotative speed control parts 7x to 7z when data of the delay times of respective coordinate axes is inputted from an interpolating part 3. Data of the prescribed fundamental gain is outputted with respect to the coordinate axis having no time delay. Thus, rotative speeds of servo motors Mx to Mz are controlled to control each coordinate position of the moving body to the target position, and the moving body is exactly moved along a commanded movement locus.</p> |
