| 摘要 |
PURPOSE:To set acceleration to an arbitrary value and to complete setting quickly by generating a comparative positional function using the first speed information of constant acceleration characteristics and the second speed information that approaches a target and follows deceleration characteristics independently. CONSTITUTION:In a period from time T0 to T1, a start of movement at an indicated speed Vc1 designated by a computer is commanded, and an output (a) of a counter 3 changes against the position of movement at a fixed acceleration alphac1. When the output (a) arrives at the indicated speed at time T1, the state is continued until time T2. When the indicated speed is commanded to Vc2 which is lower than Vc1, a comparator 5 switches a switch 7 to the down side, and a counter 3 starts counting. When the output (a) arrives at the speed Vc2, that condition is maintained until time T4. From the time T4, the speed is reduced from the speed Vc2 to the constant acceleration alphac1, and when arrived at a target position Xc, the speed becomes zero and stops. |
