Patent ID: 6462501
Filing Date: 2002-10-08
Classification: G05B,Y02P

Abstract:
A motor controlling method, comprising the steps of:inputting a target position for a movable object; inputting a time for said movable object to arrive at the target position; determining an acceleration period, a constant-speed-movement period and a deceleration period according to one of the inputted target position and time; setting a constant-speed-movement start position at which the constant-speed-movement is started; setting a deceleration start position at which the deceleration is started; determining a constant speed during the constant-speed-movement according to the set constant-speed-movement start position and deceleration start position; applying an exponential function to an operation equation of the acceleration showing,a relationship between a movement amount and a time and determining the operation equation so that the speed when said movable object is shifted from the acceleration to the constant-speed-movement is the same as the determined constant speed; applying an exponential function to an operation equation of the deceleration showing a relationship between a movement amount and a time and determining the operation equation so that the speed when said movable object is shifted from the constant-speed-movement to the deceleration is the same as the determined constant speed; and driving a motor to move said movable object to the target position according to the determined operation equation of the acceleration, constant speed during the constant-speed-movement and operation equation of the deceleration.