| 摘要 |
PURPOSE:To eliminate a follow-up deviation not only in case of circular arc compensation but also in any case by adding a bias value obtained in accordance with a prescribed formula to movement extent command value of each unit time and using the addition result as a target of movement. CONSTITUTION:In a microprocessor part (the left of a short and long dash alternating line shown in the figure), a preceding movement extent command value 8 is subtracted from a present movement extent command value 7 to obtain a value 9 and this value is divided by a position loop gain Kp to obtain a value 10 and this value is added to the present movement extent command value 7 to obtain the movement extent command value at intervals of the one- cycle time of a processing sequence, namely, a unit time T. After this processing sequence is terminated, the present movement extent command value 7 is stored as the preceding movement extent command value 8, and an extent of present movement which is determined by inverse operation in accordance with a target locus is stored as the present movement extent command value 7. Thus, since the command position is advanced too much by an extent corresponding to follow-up delay, the actual position coincides with the target position completely except that the deviation like a frictional error which can be ignored remains.
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