| 摘要 |
PURPOSE:To perform the control so that a speed integral value is equal to position information in a low-speed region, by outputting the differential value between position information and the speed integral value as speed information in accordance with the result of comparison between position information based on position detection pulses and the addition value of speed information and the speed integral value. CONSTITUTION:On a basis of counted values of position pulses and intervals of them in every certain period by a counter 60 and timer counter 62, a CPU64 calculates position information P, speed information V, and a speed integral value S in the period. In the low-speed region, if the absolute value P is smaller as the result of comparison between the absolute value P and a sum absolute value S+V, the differential value between the position information P and the integral values S is outputted as speed information V to perform the control so that the speed integral value is equal to position information, and various errors related to integration are absorbed because the speed integral value does not exceed position information, and thus, a servo motor is rotated smoothly without oscillation. |
