PURPOSE: To locate a cylinder by taking in the displacement and speed of a cylinder, and computing a predicted overrun distance for this time from a predicted overrun distance for the lest time, cylinder speed at the time of previous brake signal output and cylinder speed during driving.
CONSTITUTION: When a solenoid valve 21 for driving is changed to a position III and a piston 8 moves to the right, the position and speed of a piston 8 are computed by a signal from a position detection sensor 9, and a brake signals is outputted by computing predicted overrun distance from a predicted overrun distance for the last time, cylinder speed at the time of previous brake signal output and cylinder speed. At this time, a solenoid valve 22 for brake is changed to a position II, compressed air is flown into a brake chamber 18, thus starting braking. When the solenoid valve 21 for driving is returned to the position II, a predicted overrun distance and cylinder speed used in the next driving calculation are calculated from the displacement and speed at the time of brake signal output and the displacement of the stopped cylinder.
YAMAMOTO HITOSHI
FUJIWARA NOBUHIRO
SHIMONO HIROYUKI