| 摘要 |
PURPOSE:To improve the accuracy of a stop position by changing an objective speed in stages so as to be successively approached to a set speed and controlling the speed of a moving body so as to be set up to respective objective speeds in the process. CONSTITUTION:When speed data are set up to an initial value and an acceleration timer is made effective, interruption is generated every prescribed period and processing is executed. Whether the set speed data reach the prescribed final value or not is check and similar interrupting processing is executed up to the arrival of the set data at the final value. Speed data to be increased every unit are supplied from the CPU 20 to an objective speed setting circuit 21 and a controlling objective speed outputted from the circuit 21 is increased in stages. Thereby, the change of acceleration in the moving body can be reduced as small as possible. At the time of stopping the moving body, the dispersion of decelerating characteristics such as time up to the stop can be reduced. Consequently, the accuracy of the stop position can be improved. |
