| 摘要 |
PURPOSE:To provide the controller which performs position control over the part supply table under the best conditions for the total weight of the part supply table by detecting the weight. CONSTITUTION:While the controller is stored with the best parameters of current control transfer functions 7 for positioning control over the part supply table 1, speed control transfer functions 8, and position control transfer functions 9 to the total weight of the part supply table l, the controller detects the total weight of the part supply table 1 and calls and uses the best control transfer functions 7, 8, and 9 among the said stored control transfer functions 7, 8, and 9 according to the detected total weight. The controller performs position control based upon a position command P and a detected position, speed control based upon a speed command V and a detected speed, and current control based upon a current command I and a detected current by using those best control transfer functions, thereby controlling a servo motor M. |
