| 摘要 |
PURPOSE:To attain constant position stop control in a short time by applying the position control in the shortest position at a speed below the prescribed object speed so as to a useless acceleration/deceleration time. CONSTITUTION:A multiplier circuit 11 multiplying signals A, B from the encoder coupled with a rotary shaft and outputting biphase signals A, B with a phase deviation of 90 deg. to each other and a signal C of one pulse per one revolution, an up-down counter 12 receiving its output as a count input and rest by reset by the signal C and an arithmetic means 13 obtaining the rotating speed of the rotary shaft and the rotating position based on the output of the counter 12, are provided. When the rotating speed is smaller than a prescribed reference value, the arithmetic means 13 changes over the speed loop into the position loop, and calculates the position command required for smoothing with a constant tilt straight line and the position control deviation so as to make the speed command smoothly continuous before the changeover. Thus, the constant position stop operating time is reduced.
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