| 摘要 |
PURPOSE:To suppress an abnormal response and to smoothly change a kinetic direction by monitoring a quadrant switching time during the working of a contour, generating a compensating function value for compensating an abnormal response at the time of detecting the switching time and adding the generated value to an input command value in a servo system. CONSTITUTION:A deviation counter 1 computes a deviation between an inputted position command value Xi and an output value from a position encoder 8 for detecting the position of an actuator 6, outputs the deviation value, detects the time when the command value Xi or the deviation value is converted from a positive or a negative to a negative or a positive, i.e. a switching point of a circular arc, and outputs a switching detecting signal. A compensating function generating part 2 previously includes a compensating function formula, and when its parameter is set up and the switching detecting signal is inputted, generates and outputs a compensating function value. An addition value 3 adds the output of the counter 1 to that of the generating part 2 and a D/A converter 4 D/A converts the added output. The analog command value is inputted to a servo amplifier part 5 to control the actuator 6. |
