| 摘要 |
PURPOSE:To enable rise of table up to position of striking to stopper by performing feedback control of an actuator with operating amount based on the deviation of an objective value and the present value until setting control switching point and by driving the actuator with the set operating amount after positioning. CONSTITUTION:When start instruction SS is input from a sequencer, CPU12 inputs stop point number data Nx showing stop position before rising limit and compares the data with switching point number data Mx stored in RAM14. When the position where a table stops is a switching point of drive control, torque limit instruction Dz output at the time of starting is changed to larger value and output, and output current of a servo amplifier 20 is limited largely to minimize output torque of a motor 5, and the pressing force when the table is struck to the striking face is made small. Then the motor 5 rotates at a low speed in correspondence with a constant operating amount data Dy, and the rotation is stopped when the table is struck to a rising limit stopper to enable rise until striking. |
