| 摘要 |
<p>The apparatus is provided with the same number of acceleration/deceleration control units as the servo motors provided for the machine. Each acceleration/deceleration control unit consists of a predetermined number of delay units and has first to third acceleration/deceleration filters that are connected in series. The filters sent to the second and third filters and to the corresponding servo circuits outputs e (Pb, Pc, Pd) that are obtained by dividing the sum of an instruction speed (Pa), the ones corresponding to the first filter output (Pb) and to the second filter output (Pc), and values stored in the delay units of the filters by a value which consists of a number of units to which "1" is added. Discontinuity of the first and second derivatives (acceleration, and rate of change of acceleration) of the first filter output (Pb) generated during the acceleration/deceleration processing (t) is removed by the acceleration/deceleration processing through the second and third filters.</p> |
