| 摘要 |
PURPOSE:To suppress a difference based on a target speed to a minimum by rising the mechanical resonance point of an accessor at a strike by reconfiguration and to execute one motion at a high speed by the reconfiguration by providing a means to lower a carriage to a lowermost part at a strike by the reconfiguration, and switches a feedback gain to a high value. CONSTITUTION:Reconfigulation causes lowering of an Y-carriage 12 to a lower most part by a control means 20 during one motion, and a feedback gain is increased to a further higher gain by means of a gain switching means 22. As noted above, since, through the rise of the mechanical resonance points of accessors 14-1 and 14-2 and the increase of a feedback gain, a difference based on a target speed can be suppressed to a low value as against the increase of torque and a friction factor during extrusion of a trouble accessor and a moving speed can be improved, the reconfiguration can rapidly complete one motion in a specified time. |
