| 摘要 |
PURPOSE:To shorten the cycle time of working, by setting the value of a command speed divided by the allowed maximum acceleration of a machine, to be a time constant for controlling acceleration or deceleration. CONSTITUTION:When speed command from a program is read by a microprocessor as the controller of a robot, a machine tool, or the like, then the speed command is stored in memory, and a time constant divided by a maximum acceleration is found. Besides, said time constant is divided by the sampling period of an acceleration or deceleration controlling section 1, and member (n) of the sampling between time constants is found. By the number of sampling n, acceleration or deceleration control is performed. In other words, in every sampling period, to speed command Pa after interpolation, the values of registers (R1-Rn-1) in the quantity of n-1 are added, and the added value is divided by the number of sampling n, and the obtained value Pb is applied to a servo-controlling section 2. |
