| 摘要 |
PURPOSE:To prevent the generation of a shock at the stop of actuators by stopping the whole actuators when >=1 optional actuator reach the limit of a stage and a speed command value is attained so as to exceed the limit. CONSTITUTION:Displacement signals xa, xb are used as the outputs of a master device 1 indicating the required operation of the body 3 of a working machine. Displacement detectors 6a, 6b detect the displacement ya, yb of two actuators which are included in servo systems 2a, 2b and drive the working member of the body 3. Spee command value detectors 7a, 7b detect speed command values dxa/dt, dxb/dt from the displacement signals xa, xb outputted by the device 1. These speed command values and the displacement of the displacement detectors 6a, 6b are applied to a logical operation device 8, which discriminates the status that the speed command values are attained so as to exceed the limit of the process and outputs a signal ''1'' to disconnect a system controlling circuit 9. |
