JPH01258006A - Method for controlling speed of motor - Google Patents

Abstract

PURPOSE:To remove vibration due to a sudden change in acceleration by generating a continuously smooth targeted speed even when a positional deviation at the time of starting movement or up to an object is small. CONSTITUTION:A main control part 1a is provided with a CPU, a ROM, a RAM, and a DMA controller and generates targeted position information and a servocontrol part 1b receives the information and commands the speed control of a moor 2. A PWM driving part 1c drives the motor 2 based on said command. At the time of receiving an increment/decrement constant sufficiently smaller than respective command values relating to a targeted position, a cycle speed, the number of times of increment/ decrement, and the number of repeats and a cycle speed command value, the main control part 1a adds the increment/decrement constant to the preceding targeted position to set up a new targeted value, finds out a deviation between the targeted value and a current position and reads out speed information based on a prescribed deceleration characteristic to repeatedly control the motor 2 only by the number of command. Thereafter, the main control part 1a finally stops the motor 2 after said repeats. In said constitution, the acceleration of the motor 2 can be directly changed by leading a trapezoidal cycle speed command value and the motor can be smoothly rotated.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a method for controlling the speed of a motor that drives a movable part such as an arm of an articulated robot or a table of a Cartesian robot.

[Prior Art] Conventionally, industrial robots equipped with motors controlled and driven by microcomputers have been either multi-joint type with arms or orthogonal coordinate type with two orthogonal tables. , it is required to smoothly stop the movable part at the target position in a short time without causing the moving part to take a picture. In order to meet this demand, the time change of the motor speed during deceleration is controlled to follow a sine curve or a pseudo-sine curve formed by combining sinusoids with different amplitudes and periods, thereby decelerating the motor and moving to the target position. A positioning control method is commonly used. As an example of this control method, the relationship between the amount of movement and speed when the motor is accelerated from zero speed along the sine curve or pseudo-sine curve over time is determined in advance, and this is calculated as the position error and the target speed. It is regarded as a relationship with speed, and is stored as a correspondence table with target speed corresponding to each position deviation.The target speed is calculated from the correspondence table according to the position deviation formed by the difference between the target position and the current position, and the motor is There is a method of controlling the speed so that it reaches the target speed. With this method, the target speed at that point is immediately determined from the positional deviation at each point during movement, and by simply controlling the speed of the motor using this target speed as a target, the motor can be accelerated or decelerated along a sine curve or a pseudo-sine curve. , positioning can be performed at the target position.

However, in this method, a target position is given, and as the positional deviation resulting from the difference between the target position and the current position increases, the target speed also increases. Therefore, when accelerating the motor, when the motor starts rotating,
The motor is rapidly accelerated from a state of zero speed, and the motor is photographed, causing problems such as large acceleration being applied to the movable parts of the industrial robot or the workpiece driven by the motor. As a countermeasure, instead of suddenly setting the target position to the target position, find the movement amount of one servo cycle from the maximum speed obtained from the position deviation to the target position as the cycle speed command value, and then position. Let the position be the previous target position plus the cycle speed command value for each servo cycle,
A method is used to control the motor by setting a target position for each servo cycle. That is, 1) When positioning is performed using the target position command value commanded from the main control unit as the target position, the main control unit issues a new target position command value, a cycle speed command IIg with a target movement amount of one servo cycle, and When the repetition number command value is given, the value obtained by adding the cycle speed command value to the current position is set as a new target position, and the position deviation formed by the difference between the target position and the current position is determined.

2) Control the speed of the motor using the corresponding target speed data as a target. At this time, the positional deviation is close to the cycle speed command value and is a small value as a positional deviation, and the corresponding target speed data is an even smaller value, and the amount of movement until the next servo control cycle is small.

3) In the next servo control cycle, the value obtained by adding the cycle speed command value to the previous target position is set as the new target, the position deviation to this new target position is determined, and the target speed data corresponding to this position deviation is called. , the motor is controlled with this as the goal. At this time, since the current position has moved only slightly from the previous target position, the position deviation will be larger than the previous one, and the target speed data will be larger than the previous one.

4) By repeating the control in 3), the target speed data gradually increases and the speed of the motor increases. In the target speed data, as the positional deviation increases, the positional deviation does not increase at any rate, and the rate of increase in the motor speed gradually decreases.

5) When the target speed data increases and becomes equal to the cycle speed command value, the amount of increase in the target position is equal to the amount of increase in the current position, so the position deviation becomes constant, the target speed data also becomes constant, and the ball -In the evening, it rotates at a constant speed.

6) When the control is repeated a number of times equal to the repetition number command value, the target position is fixed to the target position command value,
Target speed data corresponding to the positional deviation to this target position is retrieved, and the motor is controlled using this as a target. Thereafter, as the current position of the motor increases, the positional deviation becomes smaller, the corresponding target speed data also becomes smaller, and the motor is decelerated and stopped.

It is configured as follows.

[Problems to be Solved by the Invention] In this control method, the speed of the motor increases smoothly from zero speed, and when the positional deviation to the target position is sufficiently large compared to the target speed, the motor speed increases smoothly. It is possible to reach the target speed and move at a constant speed, then smoothly decelerate and stop, without causing excessive acceleration. However,
When the positional deviation is small, deceleration suddenly starts in the middle of acceleration, so the target speed becomes discontinuous as shown in Figure 6, causing a sudden change in acceleration, which causes problems such as photographing. There is.

The present invention aims to eliminate the above-mentioned drawbacks by generating a target speed that continuously and smoothly changes the speed to reduce the occurrence of photographing even at the start of movement or when the positional deviation to the target position is small. This paper attempts to provide a method for controlling the position and speed of a motor.

[Means for Solving the Problem] In order to achieve the above object, the motor is configured to operate in the following order.

1) In the range where the positional deviation is small, the target speed data increases rapidly from zero as the positional deviation increases, and in the range where the positional deviation is large, the target speed data that does not change much near the maximum speed is set as the positional Store it in response to the deviation.

2) From the main control unit, set a target position command value, a cycle speed command value consisting of the target movement amount of one servo cycle, a repetition number command value, an increase/decrease number command value, and an increase/decrease constant that is sufficiently smaller than the cycle speed command value. When received, the control number storage unit,
Zero is set in the increase/decrease number storage section, cycle speed storage section, and mode storage section.

3) When the mode storage section stores a matching signal between the value in the increase/decrease number storage section and the increase/decrease number command value, jump to 6). When the mode storage section stores a coincidence signal between the control number storage section and the repetition number command value together with the coincidence signal, the process jumps to 7).

4) Add 1 to the increase/decrease number storage section, compare the result with the increase/decrease number command value, and if the two are equal, send a match signal to the mode storage section. Set the increase/decrease count storage section to zero. Briefly, set the cycle speed command value in the cycle speed storage section and jump to 6).

5) Add an increase/decrease constant that is a value sufficiently smaller than the cycle speed command value set in the cycle speed storage section, and use this as a new value in the cycle speed storage section.

6) Add 1 to the control number storage section, compare the result with the repetition number command value, and if the two are equal, send a match signal to the mode storage section. If the two are not equal, jump to 9).

7) Add 1 to the increase/decrease number storage unit, compare the result with the increase/decrease number command value, and if the two are equal, jump to 12>.

8) Subtract the increase/decrease constant from the value in the cycle speed storage section and use this as the new value stored in the cycle speed storage section.

9) Add the value stored in the cycle speed storage section to the target position in the previous servo cycle and use this as the new target position.

10) The difference between the target position and the current position is defined as a positional deviation, and the target speed data corresponding to the positional deviation is called from among the target speed data stored in advance.

11) Control the speed of the motor using the target speed data as a target, and return to 3).

12) Set the target position command value as a new target position.

13> The difference between the target position command value and the current position is defined as a positional deviation, and the target speed data corresponding to the positional deviation is recalled from among the stored target speed data.

14> Control the speed of the motor using the target speed data as a target.

15) If the positional deviation is greater than the predetermined positioning accuracy, return to 13).

16) Send a positioning completion signal to the main control section and return to 2).

Further, the cycle speed command value is the amount of movement in one servo cycle subtracted by 1q from the target speed corresponding to the positional deviation to the target position, and the repetition number command value is the number of divisions obtained by dividing the positional deviation by the recycle speed command value. It may be.

[Effect 1] In the above motor speed control method, when a movement command signal is received while the motor is positioned at the previous target position command value,
The main control unit outputs a new target position command value, a cycle speed command value that is the target movement ω of one servo cycle, a repetition number command value, an increase/decrease number command value, and an increase/decrease in a value that is sufficiently smaller than the cycle speed command value. Once the constant is given, the increase/decrease constant is added to the cycle rate memory (initial value is zero).

This stored value in the cycle speed storage section is added to the target position of the previous servo control cycle, and a new target position is set. The positional deviation to this target position is determined, target speed data corresponding to this is retrieved, and the motor is controlled using this as a target. The positional deviation at this time becomes an increase/decrease constant, and since this is small, the target speed data corresponding to this positional deviation is almost zero, and the change in the target speed is also almost zero.

Therefore, the driving force generated in the motor is small, the acceleration generated in the movable part is very small, the amount of movement (2) until the next servo control cycle is small, and the motor starts rotating slowly from zero speed.

In the next servo control cycle, the value obtained by adding the cycle speed storage value to the previous target position is set as the new target position, the position deviation is calculated in the same manner as the previous time, and the target speed data corresponding to this is called. The speed of the motor is controlled using this target speed data as a target. At this time, since the current position has only slightly moved from the previous position, the positional deviation will be larger than the previous one, and the corresponding target speed data will also be slightly larger than the previous one. Further, when the above control is repeated, the change in the target speed, that is, the acceleration, gradually increases, the target speed data of the motor also increases, and the speed of the motor increases.

When the above control is repeated for a predetermined number of times of increase/decrease command value, the stored value of the cycle speed storage section is thereafter fixed to the cycle speed command value. Therefore, although the positional deviation increases, the target speed data does not increase even though the positional deviation increases, so the target speed data increases while the rate of change in the target speed gradually decreases.

Furthermore, as the control is repeated, the positional deviation gradually increases, the target speed data also increases, and the speed of the motor is accelerated. After that, even if the positional deviation becomes large, it does not necessarily increase, and the rate of increase in the motor speed gradually decreases.

After the control is repeated the number of times specified by the number of repetitions command value,
The increase/decrease constant is subtracted from the value stored in the cycle speed storage section, and this is set as a new stored value.

This is added to the previous target position to form a new target position. The positional deviation to this target position is determined, target speed data corresponding to this positional deviation is retrieved, and the speed of the motor is controlled using this as a target. At this time, the rate of increase in positional deviation also becomes slightly smaller, and the target speed also becomes slightly smaller than the previous time. - When the above control is repeated, the value stored in the cycle speed storage section becomes smaller and smaller. When this value becomes smaller than the amount of movement during one control cycle at that time, the positional deviation to the new target position will become smaller than the previous positional deviation, and the corresponding target speed data will also change from increasing to decreasing. . Therefore, the motor starts decelerating, and the change in target speed data, that is, the acceleration changes from acceleration to deceleration.

When the control is repeated the number of times of the increase/decrease command value, the target position is fixed to the target position command value, and as the current position increases, the position deviation becomes smaller and the corresponding target speed data also becomes smaller, The motor can be slowed down and eventually stopped.

[Implementation] Examples will be described below with reference to the drawings. In Fig. 1, reference numeral 1 denotes an industrial machine with a movable part consisting of an articulated arm (not shown) that moves in response to the rotation of a motor 2 or two tables (not shown) positioned perpendicular to each other. It is a control device for a robot used for robots. This gO control device 1 has a first CPtJ
3, 1st RAM 5l, 1st RAM 5, keyboard 6
, a main control section 1a including a display section 7 and a DMA controller 8, a servo control section 1b that receives position information of the target position and performs calculations to control the motor speed, and a command ID sent from the servo control section 1b. Motor 2 according to
It consists of a PWM drive unit 1C, which is an example of a motor drive unit that drives. DMA controller of the main control section 1a] The roller 8 is connected to the second RAM 9 of the servo control section 1b, and the first CPU 3 of the main control section 1a and the second RAM 9 of the servo control section 1b are configured to be able to communicate with each other. .

In addition, after the power is turned on and preparation for ζ work is completed, the position information of the target position is called as a target position command value in the first ROM 4 of the main control unit 1a by a movement command signal, and when this positioning is completed, the work is performed. A work program for issuing a work start command signal is stored in a unit (not shown). This work program is as shown in Figure 2.
1) Wait for a movement command signal.

2) Using the movement command signal, the position information of the target position is called out from the first RAM 5 as the target position command value, and the maximum target speed data is called out and used as the cycle speed command value, and the target position command value and the current speed of the motor are From the difference, an increase/decrease constant that is sufficiently smaller than the increase/decrease number command value, the repetition number command value, and the recycle speed command value is calculated.

3) Transfer this information to a predetermined address of the second RAM 9 of the servo control unit 1b through the DMA controller 8,
Remember this.

4) Read the input information of the address in the second RAMQ where the positioning completion flag is stored through the DMA controller 8.

5) Determine whether the positioning completion flag is input in the second RAMQ, and if the positioning completion flag is not input, the 4
).

6) When the positioning completion flag is input, a predetermined work command signal is output to the work unit and a work completion signal transmitted from the work unit is waited for.

7) When receiving the work completion signal, determine whether the cycle is complete, and if the cycle is not completed, send a movement command signal and
).

8) End.

It is configured as follows.

The servo control unit 1b includes a second CPU 10, a second ROM
11, second RAM 9, calculation unit 12 and I10 boat 1
3, and the value calculated by the calculation unit 12 is input to the I10 boat 13.
The signal is configured to be sent to the PWM drive unit 1C via the PWM drive unit 1C. In addition, the second ROM 11 stores a characteristic curve having characteristics representing the relationship between speed and position deviation, such as a sine curve representing the relationship between speed and travel time, or a pseudo sine curve obtained by synthesizing sine curves with different amplitudes and periods. Target speed data calculated in advance from this characteristic curve corresponding to the positional deviation is stored. In addition, the target speed data is a value that makes the amount of movement in one servo cycle smaller than the position deviation corresponding to the target speed data, and is a value that rapidly increases from zero in a range where the position deviation is small, and the position deviation is large. Within this range, the value has little change near the maximum speed, and the configuration is such that desired deceleration characteristics as shown in FIG. 5 can be obtained.

Further, the second ROM 11 stores a target speed output program. As shown in Fig. 3, this target speed output program includes: 1) A cycle speed command value, which is the target movement amount for one servo cycle obtained from the main control unit, a target position command value, maximum target speed data, and the number of repetitions; When receiving a command value, an increase/decrease number command value, and an increase/decrease constant sufficiently smaller than the cycle speed command value, zero is set in the control number storage section, increase/decrease number storage section, cycle speed storage section, and mode storage section.

2) When the mode storage section stores a matching signal between the value of the increase/decrease number storage section and the increase/decrease number command value (when the mode storage section stores 1), jumps to 5). When the mode storage unit stores the -several times @ and the coincidence signal between the control number storage unit and the repetition number command value (the mode storage unit is
), jump to 6>.

3) Add 1 to the increase/decrease number storage section, compare the result with the increase/decrease number command value, and if the two are equal, send a match signal to the mode storage section (1 is stored). Set the increase/decrease number storage unit to zero. Furthermore, a cycle speed command value is set in the cycle speed storage section, and the process jumps to 5).

4) Add the increase/decrease constant to the cycle speed storage section and use this as the new value of the cycle speed storage section.

5) Add 1 to the control number storage section, compare the result with the repetition number command value, and if the two are equal, send a match signal to the mode storage section (2 is stored). If the two are not equal, jump to 8).

6) Add 1 to the increase/decrease number storage unit, compare the result with the increase/decrease number command value, and if both are equal, jump to 11).

7) Subtract the increase/decrease constant from the value in the cycle speed storage section and use this as the new value stored in the cycle speed storage section.

8) Add the value stored in the cycle speed storage unit to the target position in the previous servo cycle and use this as the new target position.

9) The difference between the target position and the current position is defined as a positional deviation, and the target speed data corresponding to the positional deviation is called from among the target speed data stored in advance.

10) Find the speed deviation that is the difference between the target speed data and the current speed, and set the current command value corresponding to this to the PWM drive unit 1.
C, the speed of the motor 2 is controlled using the target speed data as a target, and the process returns to 2).

11) Set the target position command value as a new target position.

12) The difference between the target position command value and the current position is defined as a positional deviation, and the target speed data corresponding to the positional deviation is called from among the target speed data stored in advance.

13) Control the speed of the motor 2 using the target speed data as a target.

14> The positional deviation is larger than the predetermined positioning accuracy (if it goes down, it returns to 12).

15) Send the positioning completion signal to the main control section and return to 1>.

It is configured as follows.

In the above case, if the current command value is multiplied by the servo strength determination constant to make the large serration of the current command value variable, the servo strength determination constant can be increased to improve the followability of motor 2 and increase the force. In addition, by reducing the servo strength determining constant, the followability of the motor 2 can be reduced, and its movement can be stabilized.

The PWM drive unit 1C includes a PWM pulse width selection unit 16 and a PWM drive circuit 17, and the PWM pulse width selection unit 16 selects a PWM pulse width corresponding to the current command value to obtain a predetermined pulse width. It is configured to oscillate a pulse train. Further, the PWM drive circuit 17 is configured to supply the motor 2 with a drive voltage according to the pulse train.

A pulse encoder 14 is attached to the motor 2 to detect its rotation, and this position detection pulse is fed back to the servo control unit 1b via an integrator 15 to control the position and speed of the motor. It is configured.

In the control device for the industrial robot described above, when the main control unit 1a receives a movement command signal before starting work,
The first working position is selected from the working positions set in the RAM 5, and is output as a target position command value to a predetermined address in the second RAM 9 via the DMA controller 8. Furthermore, the main control unit 1a calls the maximum target speed data from among the target speed data, calculates the movement m of one servo cycle as a cycle speed command value, and also calculates the difference between the target position command and the current speed of the motor 2. From the difference, Figure 4 (c2)
As shown in the figure, an increase/decrease number command value, a repetition number command value, and an increase/decrease constant that is sufficiently smaller than the cycle speed command value are calculated. These pieces of information are sent to a predetermined address in the second RAM 9 via the DMA controller 8 and stored therein. At the same time, the main control unit 1a reads input information within a predetermined address of the m2RAM 9 via the DMA controller 8,
Waits for input of positioning completion flag.

On the other hand, in the servo control unit 1b, predetermined information in the second RAMe is read, and after the cycle speed storage unit is set to zero, a deceleration constant is added thereto, and this stored value is added to the previous target position, This becomes the new target position. A positional deviation consisting of the difference between this target position and the integrated value of the integrator 15 is calculated, and the target speed data stored in the second RAM 9 is called corresponding to this positional deviation, and the target speed data and the current speed are The speed deviation resulting from the difference is calculated. A current command value is determined according to this speed deviation, and this current command value is sent from the I10 port 13 to the pulse width selection section 16. The pulse width selection unit 16 oscillates a pulse train of a predetermined pulse width according to this current command value, and a drive voltage is applied to the motor 2 from the PWM drive circuit 17 according to this pulse train, and the motor 2 is driven by the target speed data. is driven by the goal of The positional deviation at this time is a value close to the increase/decrease constant and is very small, so the corresponding target speed data is a slight value close to zero, and there is almost no change in the target speed data. Therefore, the driving force generated in the motor 2 is very small, the acceleration generated in the movable parts of the robot is very small, and the amount of movement until the next servo control cycle is small.

In the next servo control cycle, the increase/decrease constant is added to the value stored in the previous cycle speed storage section, and this stored value is shorelined to the previous target position, which becomes the new target position. Similar to the previous time, the positional deviation to this target position and the corresponding target speed data are determined, and the motor 2 is controlled using this as the target. At this time, since the previous movement was small and did not move by the amount of the increase/decrease constant, the position deviation is slightly larger than the previous one, and the corresponding target speed is also smaller than the previous one, as shown in Figure 4 (b). The speed of the motor 2 increases as the number of repetitions of the servo control cycle increases.

When the servo control cycle reaches the number of times equal to the increase/decrease number command value, the stored value in the cycle speed storage section is thereafter fixed at the cycle speed command value. Therefore, the target position increases with each cycle speed command value, and the position deviation also increases with each increase in servo control cycles. As this positional deviation increases, the target speed data no longer increases, so the change in the target speed data, that is, the acceleration does not decrease, but the speed of the motor 2 increases.

When the number of repetitions of the servo control cycle increases and becomes equal to the repetition number command value, the increase/decrease constant is subtracted from the stored value in the cycle speed storage section which is the cycle speed command value, and a new stored value is set to 19. This stored value is added to the previous target position to obtain a new target, and the positional deviation to this target position is determined. Since the rate of increase in this positional deviation gradually decreases, the rate of increase in the target speed also decreases roughly. When the above control is repeated, the value stored in the cycle speed storage section becomes smaller, and when that value becomes smaller than the movement amount of one control cycle at that time, the position deviation starts to decrease, and the corresponding target speed data also decreases. Changes from increase to decrease. Therefore, the motor 2 starts to decelerate, and the target speed data changes, that is, the acceleration changes from acceleration to deceleration. When the stored value in the cycle speed storage unit decreases and the number of repetitions of the servo control cycle becomes equal to the increase/decrease number command value, the target position is fixed to the target position command value. Therefore, from then on, the positional deviation decreases, the corresponding target speed data also decreases, and the motor 2 is decelerated and can finally be stopped.

[Effects of the Invention] As explained above, the present invention provides a target position command value, a cycle speed command value consisting of the target movement amount of one servo cycle, an increase/decrease number command value, a repetition number command value, and a cycle speed command value. When a sufficiently small increase/decrease constant is received, the value obtained by adding the increase/decrease constant to the previous target position for each control cycle is set as the target position, and the position deviation, which is the difference between this target position and the current position, is calculated based on the predetermined deceleration characteristics. The target speed data is called up according to the position deviation, and this target speed data is used as a reference to control the rotation of the motor, and this control is repeated the number of times specified by the increase/decrease number command value, and then the target position is changed to the current position. The positional deviation, which is the difference between this target position and the current position, is calculated as the value obtained by adding the cycle speed command value to The rotation of the motor is controlled as follows, and this control is repeated as many times as the repetition count command value.Furthermore, the value obtained by subtracting the increase/decrease constant from the previous target position for each control cycle is set as the target position, and this target position and current position are Find the positional deviation based on the difference between
The rotation of the motor is controlled using the vote speed data as a check, and this control is repeated the number of times of the increase/decrease command value.After that, the target position is fixed as the target position command value, and the target position command value is The system calculates the positional deviation resulting from the difference from the current position, calls the target speed data corresponding to the positional deviation based on the deceleration characteristics, controls the rotation of the motor using this target speed data as a target, and finally stops the motor. Because of this structure, the acceleration of the motor can be continuously changed by introducing a trapezoidal cycle speed command value, and the motor can move smoothly.

[Brief explanation of the drawing]

FIG. 1 is an overall explanatory diagram of the present invention, FIG. 2 is a flowchart of a work program according to the present invention, FIG. 3 is a flowchart of a target speed output program according to the present invention, and FIG. 4(a) is a 1q Cycle speed memory value -
A servo control cycle characteristic diagram, FIG. 4(b) is a speed-servo control cycle characteristic diagram obtained by the present invention, and FIG. 5 is an explanatory diagram of deceleration characteristics showing the relationship between target speed and position deviation of the motor according to the present invention. , FIG. 6 is an explanatory diagram of a deceleration characteristic that leaves behind the relationship between target speed and servo control cycle of a conventional motor. 1 Control device, 1a Main control section, 1b
Servo control unit, 1c PWM drive unit, 2 motor, 3 1st CPU, 4 1st RO
M, 5 first RAM, 6 keyboard, 7 display section, 8 DMA controller, 9 second RAM.

Claims (2)

[Claims] (1) In a motor speed control method in which the motor speed is servo-controlled in response to commands from the main control unit, 1) In a range where the position deviation is small, the target speed data rapidly increases from zero as the position deviation increases. In a range where the positional deviation is large, as the positional deviation increases, target speed data that does not change much near the maximum speed is stored corresponding to the positional deviation. 2) From the main control unit, set a target position command value, a cycle speed command value consisting of the target movement amount of one servo cycle, a repetition number command value, an increase/decrease number command value, and an increase/decrease constant that is sufficiently smaller than the cycle speed command value. When received, the control number storage unit,
Zero is set in the increase/decrease number storage section, cycle speed storage section, and mode storage section. 3) When the mode storage section stores a matching signal between the value in the increase/decrease number storage section and the increase/decrease number command value, jump to 6). When the mode storage section stores a coincidence signal between the control number storage section and the repetition number command value together with the coincidence signal, the process jumps to 7). 4) Add 1 to the increase/decrease number storage section, compare the result with the increase/decrease number command value, and if the two are equal, send a match signal to the mode storage section. Set the increase/decrease number storage unit to zero. Furthermore, a cycle speed command value is set in the cycle speed storage section, and the process jumps to 6). 5) Add an increase/decrease constant that is a value sufficiently smaller than the cycle speed command value set in the cycle speed storage section, and use this as a new value in the cycle speed storage section. 6) Add 1 to the control number storage section, compare the result with the repetition number command value, and if the two are equal, send a match signal to the mode storage section. If the two are not equal, jump to 9). 7) Add 1 to the increase/decrease number storage unit, compare the result with the increase/decrease number command value, and if both are equal, 12)
Jump to. 8) Subtract the increase/decrease constant from the value in the cycle speed storage section and use this as the new value stored in the cycle speed storage section. 9) Add the value stored in the cycle speed storage section to the target position in the previous servo cycle and use this as the new target position. 10) The difference between the target position and the current position is defined as a positional deviation, and the target speed data corresponding to the positional deviation is called from among the target speed data stored in advance. 11) Control the speed of the motor using the target speed data as a target, and return to 3). 12) Set the target position command value as a new target position. 13) The difference between the target position command value and the current position is defined as a positional deviation, and the target speed data corresponding to the positional deviation is called from among the target speed data stored in advance. 14) Control the speed of the motor using the target speed data as a target. 15) If the positional deviation is greater than the predetermined positioning accuracy, return to 13). 16) Send a positioning completion signal to the main control section and return to 2). A motor speed control method characterized by: (2) The cycle speed command value is the amount of movement in one servo cycle obtained from the target speed corresponding to the position deviation up to the target position, and the repetition number command value is the division of the position deviation by the cycle speed command value. 2. The motor speed control method according to claim 1, wherein the motor speed control method is a number.