| 摘要 |
PURPOSE:To stop exactly a carrying object at a prescribed position by deriving the weight of the carrying object from an accelerating time, and decelerating it along an optimum decelerating curve corresponding to the weight. CONSTITUTION:When carrying is started, a motor 9 is accelerated by the maximum torque. Weight of a carrying object can be calculated from the time required for reaching a prescribed revolving speed. Even in case when the weight of the carrying object is changed, it is unnecessary to measure directly the weight of the carrying object, therefore, an extra trouble can be saved. An operation processing part 5 calculates a decelerating curve in the shortest time in accordance with information from a position detector 12 and a timer 2. The motor 9 is controlled basing on the decelerating curve, and the carrying object is stopped at a prescribed position. |
