| 摘要 |
PURPOSE:To attain accurate movement of a moving part at high speed operation by changing the software gain in response to the difference between the present position data and the position command data so as to prevent the shaking of the moving part between the moving direction and vertical direction at the low speed operation of the moving part. CONSTITUTION:A difference L between a position command data Ds and a present position data Da is culculated at each interrupting period at a subtracting point 1 of the robot control system and is applied to a block (software gain) 2. The difference L and the software gain G are multiplied at the block 2, the result of multiplication LG is analog-converted at a D/A converter 3 and applied to a servo amplifier 4. The output of the amplifier 4 drives a servo-motor 5 so as to move the moving part. Output pulses P1, P2 are outputted by a pulse generator 6 fitted to a rotary shaft of the motor 5, the present position data Da is outputted from a reversible counter 7 and added to the subtracting point 1. Further, the software gain G is changed in response to the differnece L at the subtracting point 1 so as to move accurately the moving part. |
