INSTRUCTION GENERATION DEVICE AND TARGET VALUE CHANGE METHOD FOR INSTRUCTION GENERATION DEVICE

摘要

PROBLEM TO BE SOLVED: To generate an instruction not remarkably deteriorating a characteristic such as vibration suppression effect of an original instruction even when a target value is changed during operation.;SOLUTION: This target value change method for an instruction generation device includes: acquiring a movement distance d_add of a target value change amount, calculating a sampling number n_const corresponding to an amount correctable at a prescribed velocity, calculating a distance r_add corresponding to an amount not correctable at the prescribed velocity, calculating a velocity correction value r_comp in each sampling such that the distance r_add is operated along the velocity expressed by a time function that is sampling n_dec of deceleration, finally increasing the prescribed-velocity sampling by an amount corresponding to the n_const, and outputting the instruction obtained by adding r_comp in each the sampling to the original velocity instruction in each the sampling in the deceleration.;COPYRIGHT: (C)2008,JPO&INPIT