Abstract: A residual-velocity calculating unit calculates a residual velocity that corresponds to a velocity increment when an acceleration is reduced from a current command acceleration to zero according to an acceleration reduction curve. A differential-velocity calculating unit calculates a differential velocity vs=v0-vn, which is a difference between a target velocity v0 and a current velocity command for every command generation period. An acceleration-reduction-start-timing determining unit compares the residual velocity to the differential velocity for determining whether acceleration reduction starts. When a condition that the residual velocity is equal to or larger than the differential velocity is satisfied, the acceleration-reduction-start-timing determining unit determines the start of the acceleration reduction and starts to reduce the command acceleration according to the acceleration reduction curve generated by the command generating unit.

Abstract: Data communication sub-slots of a cycle in a time division mode are allocated to communication apparatuses; a maintenance communication sub-slot is allocated to the communication apparatus operating as a master communication apparatus; the communication apparatuses perform data communication with the use of the data communication sub-slots allocated thereto; and the communication apparatus uses the maintenance communication sub-slot to change or monitor information about the communication of the communication apparatuses in the time division mode.

Abstract: A residual-velocity calculating unit calculates a residual velocity that corresponds to a velocity increment when an acceleration is reduced from a current command acceleration to zero according to an acceleration reduction curve. A differential-velocity calculating unit calculates a differential velocity vs=v0-vn, which is a difference between a target velocity v0 and a current velocity command for every command generation period. An acceleration-reduction-start-timing determining unit compares the residual velocity to the differential velocity for determining whether acceleration reduction starts. When a condition that the residual velocity is equal to or larger than the differential velocity is satisfied, the acceleration-reduction-start-timing determining unit determines the start of the acceleration reduction and starts to reduce the command acceleration according to the acceleration reduction curve generated by the command generating unit.

Abstract: Data communication sub-slots of a cycle in a time division mode are allocated to communication apparatuses; a maintenance communication sub-slot is allocated to the communication apparatus operating as a master communication apparatus; the communication apparatuses perform data communication with the use of the data communication sub-slots allocated thereto; and the communication apparatus uses the maintenance communication sub-slot to change or monitor information about the communication of the communication apparatuses in the time division mode.

Abstract: A motor controller calculates a motor torque command based on motor speed and causes a motor to generate a torque corresponding to the motor torque command, to drive a machine load coupled to the motor. The motor controller includes a speed compensator that makes, when a speed compensation torque is calculated based on the motor speed, frequency characteristics of the speed compensation torque for the motor speed exhibit a low frequency cutoff characteristic so that steady-state gain in frequency response is less than a maximum gain value. A torque adder generates a motor torque command by adding to the existing motor torque command an externally input feedforward torque signal and the speed compensation torque.

Abstract: A motor controller calculates a motor torque command based on motor speed and causes a motor to generate a torque corresponding to the motor torque command, to drive a machine load coupled to the motor. The motor controller includes a speed compensator that makes, when a speed compensation torque is calculated based on the motor speed, frequency characteristics of the speed compensation torque for the motor speed exhibit a low frequency cutoff characteristic so that steady-state gain in frequency response is less than a maximum gain value. A torque adder generates a motor torque command by adding to the existing motor torque command an externally input feedforward torque signal and the speed compensation torque.

Abstract: Valve capacity Cv value is increased and valve performance is further improved. A valve body 11 has a valve chamber 19 and a flow passage 20 passing through this valve chamber 19 inside. A valve shaft 12 is extended in the direction crossing the flow passage 20 and penetrates the valve body 11. One end of the valve shaft 12 is arranged in the valve chamber 19. A valve seat 13 with a valve hole is provided in the inlet of the valve chamber of the flow passage 20. A valve plug 15 is mounted to one end of the valve shaft 12 in the cantilever state. The valve plug 15 is provided in the valve chamber 19 capable of opening/closing the valve hole by the rotation of the valve shaft 12. The valve seat 13 is provided in the valve body 11 through a bellows 40.

Abstract: A control apparatus for a servo system uses a servo motor to perform operations equivalent to those of a cam mechanism. A motion command section has two data tables which are used to calculate and output a position command and a velocity compensation command equivalent to a cam stroke. A servo drive section makes velocity compensation and current compensation on the basis of position and velocity compensation commands. The motion command section, alternatively, may have three data tables for the calculation of the compensation commands. In addition, multipliers are used to adjust the weight of the compensation commands. Rather than the data tables being present in the motion command section, they may be placed in the servo drive section. Formulae representing the mechanical characteristics of the cam system may be used in place of the data tables.