| 摘要 |
PURPOSE:To detect properly the contact of a movable part by separating position and speed loops in front of a current loop and adding the deviation between a speed feedback signal and a weight command signal as a current command signal. CONSTITUTION:First, a position P3 is positioned from a position P0, a timer is operated at a completion point T1. Then at a point T2 a changeover switch is switched from a contact (a) to a contact (b) to separate the position and speed loops. Then a control part 5 applies a speed weight deviation signal (a) available from comparing the weight command signal betawith the speed feedback signal Vf' in a weight comparing part 21 to a next stage, and controls the speed at the position P1. When the movable part reaches the position P3 at the point T3, it comes contact with a subject part, and therefore the signal Vf' comes to zero. Since a position counted value at the position P3 shows a constant value, the deviation of the position feedback signal Pf comes to zero, whereby the position counter 18 of a position deviation detecting part 19 can recognize the contact in the contact state. As the signal betabecomes the current command signal after the detection of the contact an operation is shifted to a current control, and weight is applied to a subject 17 during a period from the point T3-T4. At this time a current feedback signal if is monitored to control the signal beta, and a controller is positioned at the position P0. |
