| 摘要 |
PURPOSE:To improve positioning accuracy by using a digital memory for a control system in a positioning controller. CONSTITUTION:The control system for the positioning controller is provided with a target position setter 1, a differentiator 2 between a target position and a current position, a D/A converter 3, a driver amplifier 4, a motor 5, a movable body 6 such as a robot arm, a position detector 7, a current position counter 8, and a digital memory 10 for storing a gain set point. The gain set point is read out from the memory 10 by using deviation data as its address. Consequently, a non-sensitive band due to statical friction torque included in a motor 5 or the like is canceled and a steady position deviation can be removed by previously setting up I/O characteristics having broken line gain e.g. in the digital memory 10. In addition, the dispersion or the like of characteristics can be removed and the characteristics can be stabilized by using the digital circuit. |
