DRIVE CONTROL METHOD OF MOVING MECHANISM

摘要

PURPOSE:To move a mobile body in the shortest time even if a small positioning is conducted frequently by selecting the optimum reference table out of plural reference tables, generating a command pulse based thereupon and controlling a servomotor so as to move the mobile body. CONSTITUTION:A command pulse train generating means 7 stores a reference table representing the relation of reference mobile time - reference mobile amount based on the characteristic of plural reference acceleration/deceleration curves so as to move smoothly over the entire region from the start point to the end point via the maximum speed and plural reference tables representing the relation of reference mobile time - reference mobile amount based on the characteristic of plural acceleration/deceleration curves similar to the reference acceleration/deceleration curve set in response to the mobile amount shorter than the reference mobile amount to a table memory 12 in advance and selects the optimum reference table moving the mobile body in the shortest time in moving the body by a predetermined mobile amount. A command pulse train is generated based thereupon and given to a position controller 8 so as to control the servomotor M thereby moving the mobile body.