| 摘要 |
PURPOSE:To operate an actuator reasonably and smoothly by controlling torque to the prescribed value in the prescribed section which uses a current position as a reference as well as to control the position and speed of the actuator. CONSTITUTION:The titled actuator is provided with a command pattern arithmetic means 17 which sets the pattern of a drive speed based on drive data and forms the command pattern of the drive speed based on a parameter the pattern of the set drive speed, a command value setting means 19 for setting a drive command value based on the obtained command pattern of the drive speed, a command value output means 23 for giving the set drive command value to the actuator 21 by obtaining feedback, a drive state detecting means 25 for detecting the drive state of the actuator 21 and a command correcting means 27 for correcting the drive instruction value after said means 27 obtains a detecting signal from the detecting means 25. Since the parameter is operated in accordance with the state of the load of the actuator, for instance, the speed of the actuator can be set appropriate. |
