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JPS57182211A - Controller - Google Patents

Controller

Info

Publication number
JPS57182211A
JPS57182211A JP6689781A JP6689781A JPS57182211A JP S57182211 A JPS57182211 A JP S57182211A JP 6689781 A JP6689781 A JP 6689781A JP 6689781 A JP6689781 A JP 6689781A JP S57182211 A JPS57182211 A JP S57182211A
Authority
JP
Japan
Prior art keywords
servo
location target
gain
signal
target value
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP6689781A
Other languages
Japanese (ja)
Other versions
JPS6346441B2 (en
Inventor
Masahide Kondo
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Honda Motor Co Ltd
Original Assignee
Honda Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Priority to JP6689781A priority Critical patent/JPS57182211A/en
Publication of JPS57182211A publication Critical patent/JPS57182211A/en
Publication of JPS6346441B2 publication Critical patent/JPS6346441B2/ja
Granted legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • G05D3/20—Control of position or direction using feedback using a digital comparing device

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position Or Direction (AREA)
  • Numerical Control (AREA)
  • Feedback Control In General (AREA)

Abstract

PURPOSE:To drive moving bodies, such as tools, etc., at an appropriate speed, by obtaining gain set signals corresponding to gain selecting signals read out from a memory along with location target values of the moving bodies, from a gain regulator of a servo amplifier. CONSTITUTION:When a moving body is driven from a location target value to the next location target value under a condition where no one-sided load is applied on the moving body, a location target signal of the next location target value and a gain selecting signal are outputted from a memory 1 when an output signal which is to be used for reading out the next target value is added to the memory 1 from a controller 2. The location target signal is converted into an analog value at a DA converter 3 and added to a servo amplifier 4, and then, becomes a servo current after amplification. The servo current operates a servo mechanism 7. When the servo mechanism 7 is operated, a feedback signal corresponding to the operation of the servo mechanism 7 is added to the feedback input terminal of the servo amplifier 4 from a potentiometer 9 in the direction where the servo current becomes 0 (zero). Therefore, the servo mechanism 7 finally stops at a point of time where the servo current becomes 0 (zero). The gain selecting signal has a constant value and this is given to a gain regulator 5.
JP6689781A 1981-05-06 1981-05-06 Controller Granted JPS57182211A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP6689781A JPS57182211A (en) 1981-05-06 1981-05-06 Controller

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP6689781A JPS57182211A (en) 1981-05-06 1981-05-06 Controller

Publications (2)

Publication Number Publication Date
JPS57182211A true JPS57182211A (en) 1982-11-10
JPS6346441B2 JPS6346441B2 (en) 1988-09-14

Family

ID=13329171

Family Applications (1)

Application Number Title Priority Date Filing Date
JP6689781A Granted JPS57182211A (en) 1981-05-06 1981-05-06 Controller

Country Status (1)

Country Link
JP (1) JPS57182211A (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58219609A (en) * 1982-06-14 1983-12-21 Mitsubishi Electric Corp Positioning controller
JPS616711A (en) * 1984-06-20 1986-01-13 Matsushita Electric Ind Co Ltd Positional servo control device of robot
JPS61109647A (en) * 1984-10-31 1986-05-28 Toyoda Mach Works Ltd Feeding speed controller for machine tool
JPS62152006A (en) * 1985-12-26 1987-07-07 Toshiba Corp Controller for multi-joint arm
JPS62190501A (en) * 1986-02-17 1987-08-20 Sumitomo Heavy Ind Ltd Servo system
JPS62196707A (en) * 1986-02-24 1987-08-31 Matsushita Electric Ind Co Ltd Control method for robot
WO1990002978A1 (en) * 1988-09-14 1990-03-22 Fanuc Ltd Numerical control method

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58219609A (en) * 1982-06-14 1983-12-21 Mitsubishi Electric Corp Positioning controller
JPH0315761B2 (en) * 1982-06-14 1991-03-01 Mitsubishi Electric Corp
JPS616711A (en) * 1984-06-20 1986-01-13 Matsushita Electric Ind Co Ltd Positional servo control device of robot
JPS61109647A (en) * 1984-10-31 1986-05-28 Toyoda Mach Works Ltd Feeding speed controller for machine tool
JPH0579459B2 (en) * 1984-10-31 1993-11-02 Toyoda Machine Works Ltd
JPS62152006A (en) * 1985-12-26 1987-07-07 Toshiba Corp Controller for multi-joint arm
JPS62190501A (en) * 1986-02-17 1987-08-20 Sumitomo Heavy Ind Ltd Servo system
JPS62196707A (en) * 1986-02-24 1987-08-31 Matsushita Electric Ind Co Ltd Control method for robot
WO1990002978A1 (en) * 1988-09-14 1990-03-22 Fanuc Ltd Numerical control method

Also Published As

Publication number Publication date
JPS6346441B2 (en) 1988-09-14

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