| 摘要 |
PURPOSE:To stop a motor at an accurate position irrespective of the variation in a load by selecting a deceleration pattern at the stopping time according to the magnitude of a motor speed when the motor having an encoder for measuring the position at the operating shaft is controlled at the position. CONSTITUTION:Variable positive and negative voltages are applied to a motor 2 coupled with a load 3 and a position measuring encoder 4 through H-type bridge circuit of transistors 20-23, thereby controlling the motor. The signal from the encoder 4 is inputted to a rotating direction detector 5, a position detector 6 and a speed detector 7, the outputs of which are applied to a microcomputer 9 together with a position command 18, after started with full voltage, the speed of the motor 2 after the prescribed time is elapsed is read out, and the deceleration pattern is selected at the stopping time according to the magnitude of the motor speed, thereby stopping the motor 2. Accordingly, even if the inertia of the load is varied, a positioning with less hunting can be always performed. |
