Patent ID: 6408216
Filing Date: 2002-06-18
Classification: G05B

Abstract:
A position control apparatus using a servomotor in which a position control command is generated on the basis of a desired value data, speed unit quantity, and an acceleration unit quantity so that output torque of the servomotor is smaller than the maximum output torque of the servomotor, and the servomotor is driven by a torque command calculated on the basis of the position command, the position control apparatus comprising:first position command generating means for generating a first position command so as to give constant acceleration by adding an acceleration unit quantity &Dgr;Naa, set as a parameter beforehand, to a speed unit quantity N(n); second position command generating means for generating a second position command by calculating an acceleration unit quantity using an exponential function expression and by adding the calculated result to the speed unit quantity N(n); and actual position command generating means for generating an actual position command by comparing a present speed unit quantity N(n) and a function change speed unit quantity Nc set as a parameter beforehand and by selecting either of the first position command generating means or the second position command generating means on the basis of the compared result.