| 摘要 |
PURPOSE:To accurately position or to circularly interpolate by periodically applying upper and lower limit allowable values of prescribed speed to always remove a distortion during moving. CONSTITUTION:A sub setter 9 sets the upper or lower limit value allowed for the prescribed speed as a sub speed command value. A sub speed signal detector 11 forms a present speed by the outputs of a detector 8 and the setter 9. A comparison calculator 12 sequentially compares a signal from the detector 11 with a sub speed forming unit 10. A signal from the calculator 12 is applied to an adder/subtractor 65. Thus, acceleration/deceleration command is repeatedly applied normally to a command signal for performing the prescribed moving speed of an object to be controlled to apply a distortion with hammering (compression) or stretching (elongation) to control the speed while removing a continuous distortion. |
