| 摘要 |
PURPOSE:To hold an operation path for multiple axis contour control and to limit torque by increasing or decreasing the driving speed of each unit when the output torque value of one of servo drive units deviates from a specific limit range. CONSTITUTION:A high-priority controller 2 sets a high-level torque limit value -VT to uninverted input terminals of comparators 5 of respective servo drive units 11-13 through a control bus 3 previously and sets a low-level torque limit value -VT to inverted input terminals of comparators 6. Output torque values V which are detected in the units 11-13 during operation are inputted to the inverted input terminals of the comparators 5 and uninverted input terminals of the comparators 6. Then, the detected torque values V are compared with the high or low torque limit value +VT or -VT at any time to obtain a plus or minus saturated output value according to their large/small relation.
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