| 摘要 |
PURPOSE:To make a high-speed and low-vibration positioning operation possible, by combining two speed patterns produced by dividing a speed pattern by a cam curve into two parts by multiplication. CONSTITUTION:A speed pattern by a cam curve is divided into two parts, one part being the speed pattern at the time of starting and stopping and the other being the speed pattern of the shifting section from acceleration to deceleration, and the divided patterns are set in data tables 2 and 3, respectively. These patterns are respectively outputted to DA converters 4 and 5 by the command of a microprocessor 1 and command voltages E1 and E2 of the converters 4 and 5 are multiplied by another and combined at an analog multiplier 6. A speed command V outputted from the multiplier 6 is supplied to a servomotor 8 through a driving circuit 7 and the motor is accelerated along the cam curve. After reaching a decelerating point, values of the tables 2 and 3 are outputted and deceleration is made along a speed curve symmetrical to the accelerating time about the time axis and the motor is stopped at an aimed point. |
