| 摘要 |
PURPOSE:To control smoothly a machine by changing a gain and a speed constant in accordance with a driving state (acceleration, constant speed, deceleration) of the machine. CONSTITUTION:A CPU 12 derives a speed command VR and a position command DR, from a command pulse which has been read out of a storage device 13 at every time t1. The CPU 12 reads in the present value DB of a robot from a present value counter 20, and derives the present speed VB(t) at every t1 from the present value DB(t). From the speed command VR, the position command DR, the present speed VB, and the present value DB, which have been derived, a speed deviation VE and a position deviation DE are derived, and a gain constant A and a speed constant B are read out of the storage device 13 at every time t1. The number of pulse width modulation (PWM) pulses for controlling a motor is calculated, and the number of PWM pulses which has been derived is divided into 1/2, and outputted to a driver part 15 at every t1/2.
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