| 摘要 |
PURPOSE:To smoothly accelerate or decelerate a servo motor with less mechanism impact by using a pulse train of the sum or difference of a distributed pulse train generated from the prescribed acceleration or deceleration curve of the motor and a pulse train for compensating a deviation as the command input of a deviation counter. CONSTITUTION:A deviation counter 2 inputs a pulse S1 at an up terminal (a) and the output pulse S2 of a rotary encoder 5 at a down counter (b) to supply the counted output S3 through a D/A converter 3 to a servo amplifier 4. On the other hand, a desired curve is f0, a correcting portion is f1, and f0=(1-cospit)/2 and f1=(tsinpit)/2 are stored in a table, the f0, f1 are read out from the table, added, and the difference from the value immediately before is used as the command pulse S1 at that time. Thus, smooth acceleration can be performed. |
