| 摘要 |
PURPOSE:To improve the control property of positioning control by changing a speed pattern in a positioning control process at a speed changing position which can be optionally specified to displace the deceleration/acceleration in the positioning control process into several steps. CONSTITUTION:A motor M is rotated in accordance with a speed pattern omegaei based upon an initially inputted speed command SC1. A step 205 discriminates whether the motor M reaches a speed changing position PC1 or not, and when the discrimination is YES, the operation goes to a step 206 to execute speed changing in accordance with a speed pattern omegaei+1 based upon the succeeding speed command SC1+1. The operation goes to a step 207 to discriminate whether the motor M reaches a position theta0 to be stopped or not, and when the discrimination is YES, the motor M is stopped in a step 208. On the other hand, when the discrimination of the step 207 is NO, steps 204-207 are repeatedly executed to execute positioning control for stopping the motor M on a required stop position theta0 while changing the speed pattern in accordance with a control command. |
