| 摘要 |
PURPOSE:To perform the positioning of a load which is driven by a liquid cylinder with high operability by calculating the pseudo load amount from the time of detection during which the load starts its movement and reaches a prescribed speed and carrying out the damping control based on said load amount. CONSTITUTION:When a load 3 starts its movement via an air cylinder 1, the position detecting signals given from an interlocking potentiometer 5 are counted by a counter unit 21. While a CPU 22 measures the time during which the load 3 reaches a prescribed speed and converts this time into a pseudo load with calculation. The damping signal to be applied to a frictional brake 18 of the cylinder 1 is decided by the calculated pseudo load with reference to a table of a RAM 24. Then the speed of the load 3 is damped to almost zero at a place near the stop position of the load and the load 3 is stopped at a desired position by the brake signal (d) turned on. In such a constitution, it is not needed to rewrite previously the corresponding damping information on the RAM, etc. for each change of the load. Thus it is possible to position the load which is driven by a liquid cylinder with high operability.
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