Smoothing numerical control to smooth out speed variations due to abrupt changes in positional deviations

摘要

A numerical controller has a commanded amount of movement adjustment unit in addition to a position command unit and a position deviation counter. The commanded amount of movement adjustment unit calculates an adjusted command movement amount based on a commanded amount of movement output from the position command unit, a positional deviation obtained with the positional deviation counter, and an actual speed of a control axis, and outputs the calculated adjusted commanded movement amount to the positional deviation counter. When a load is applied to a servomotor so that a positional deviation is accumulated and the load is abruptly removed, a situation in which the servomotor accelerates abruptly to its maximum torque can be avoided to overcome the accumulated positional deviation.