| 摘要 |
PURPOSE: To attain monitoring and correction by operating each step of activating a Y control system, activating a Z control system to a prescribed direction, and storing the position of the Z control system obtained as a result as an original position. CONSTITUTION: A mobile axis module 200 receives an input parameter 201 includingΔY,ΔZ, and an ID value. A block 204 converts the parameters of acceleration and speed into data for profile generator, and transmits control to a profile generator 206 at the time of the interruption of a cycle timer. The generator 206 dynamically constitutes a position profile for deciding the conditions of movement. Those positions are transmitted to a Y control loop 150Y by a signal 154Y, and to a Z control loop 150Z by a signal 154Z. The information is transmitted from the control loops to force calculating modules 174Y and 174Z, and stored in a variable storage area 176. When the force stored in the storage area 176 is beyond a safe limit, the loops 150Y and 150Z are disconnected. When an operation is completed, an end signal is returned to the module 200, and a caller is let know the completion.
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