| 摘要 |
<p>PURPOSE:To achieve a desired positioning accuracy and to drastically shorten the working time of the initial adjustment of a work positioning device by forming a structure initially adjusting automatically so as to eliminate the generation factor of error the parameter of a work mechanism. CONSTITUTION:A servomotor 12 is first subjected to an operation check at the low speed zone and an alarm is sent in case of any inconvenience of a servo mechanism. The operation check is then executed at medium speed and high speed zones. Namely, the power at the positioning stop time of the servomotor 12 is changed by performing the adjustment reducing the position loop gain K and speed loop gain K' which are the servoconstant. After completion of the adjustment, whether or not a specific positioning accuracy is achieved is checked and if not, the fine adjustment of the parameter is performed further. In the case of the positioning accuracy being not cleared yet even by this fine adjustment, the positioning accuracy itself is finely adjusted. Thus the desired positioning accuracy is made to be secured even if the positioning accuracy is loosened.</p> |
