| 摘要 |
PURPOSE:To control a motor to a target position in a minimum time and to improve the accuracy of positioning a motor by executing a feed forward control, storing a following delay time at acceleration according as a load is great or not and correcting a speed pattern at deceleration with the aid of said amount. CONSTITUTION:A deviation arithmetic part 22 obtains a deviation (N-n) between an integrated value N in a command value pulse counter 14 and an integrated value (n) in a feedback pulse counter 20. Accordingly, since the differentiated value B of the speed pattern A based on the command value is added to the deviation (N-n), so-called feed forward control is executed. Moreover at acceleration, an acceleration delay is improved, and the speed is almost linearly accelerated. If the inertia of a load is great to deteriorate trackability at that time, a subtraction pattern arithmetic part 32 obtains and stores the following delay amount (x). Then a deceleration start point (a) ahead of the speed pattern A at deceleration is obtained, and the speed pattern A is corrected so that it can be the prescribed deceleration pattern C corresponding to the following delay amount (x) at the point (a).
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