| 摘要 |
PURPOSE:To attain positioning for simultaneously driving all shafts in the shortest time by considering a maximum acceleration and deceleration speed preset to each drive axis and generating a drive instruction value which can simultaneously drive all axes in the actually moving shortest time. CONSTITUTION:When a position target value X and a target speed W are given to a target value command part B, it refers to a current position X0 stored in a target value command part memory and gives each drive amount L and each command speed Vcom to a drive command part E. Referring to the maximum acceleration and deceleration speed alphamax of each axis which is stored in a drive command part memory, the drive command part E generates a speed command value V(t), and outputs it to each axis drive control part H while it is acquiring synchronization by a timer G. Each axis drive control part H drives each shaft according to the speed command value given as a time series.
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