| 摘要 |
PURPOSE:To prevent deterioration in work precision even if every shaft has a different speed detection error, and to perform smooth work, by providing an exponential function form accelerating and decelerating circuit in front of a position controlling system for PI control. CONSTITUTION:Pulse distributing circuits PDCX and PDCY generate distribution pulses xc and yc on the basis of command values DELTAX and DELTAY for movement in an X-axis and an Y-axis direction. Further, those distribution pulses xc and yc are inputted to an X-axis exponent form accelerating and decelerating circuit ADC and an Y-axis exponent form accelerating and decelerating circuit ADCY to accelerate or decelerate their pulse speeds according to exponential functions. Thus, said accelerating and decelerating circuits ADCX and ADCY are arranged to accelerate or decelerate the output pulse speeds according to exponential functions in both rises and falls even when the input pulse speeds are constant. Further, the output speeds of position controlling circuits PIX and PIY by PI control are also accelerated or decelerated according to exponential functions. |
