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PID½Õ¸`¾¹ªº¼Æ¾Çªí¹F¦¡¥i¥Hªí¥Ü¬°¡G

¡@¡@u¡]t¡^ = Kp * e¡]t¡^ + Ki * ¡ìe¡]t¡^dt + Kd * de¡]t¡^/dt

¡@¡@¨ä¤¤¡Au¡]t¡^ªí¥ÜPID½Õ¸`¾¹ªº¿é¥X«H¸¹¡Ae¡]t¡^ªí¥Ü±±¨î°¾®t¡AKp¡BKi©MKd¤À§Oªí¥Ü¤ñ¨Ò¡B¿n¤À©M·L¤À°Ñ¼Æ¡C±±¨î°¾®te¡]t¡^¬O³Q±±¶q¡]¦p·Å«×¡BÀ£¤Oµ¥¡^ªº³]©w­È»P¹ê»Ú­È¤§®t¡A§Y¡G

¡@¡@e¡]t¡^ = SP - PV

¡@¡@¨ä¤¤¡ASPªí¥Ü³]©w­È¡APVªí¥Ü¹ê»Ú­È¡C

¡@¡@¿n¤À¶µ©M·L¤À¶µªº§@¥Î¬O¹ï«Y²Îªº«ùÄò°¾®t©MÀþ®É°¾®t¶i¦æ­×¥¿¡A¥i¥H³q¹L¿n¤À¶µ©M·L¤À¶µ¨Ó´£°ª«Y²ÎªºÃ­©w©Ê©Mºë«×¡C

FANUC A06-B0642-B005-R, TAC GEN

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FANUC A06-B0642-B005-R, TAC GEN

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FANUC A06-B0642-B005, Tac Gen.

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Fanuc PCB A20B-1002-0902/01A CRT CONTROLLER S11 

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Mitsubishi Tamagawa Seiki Pick Up Unit #RT-5XC-11-1

YASNAC YASAKAWA DC SPINDLE DRIVE CDMR-MR-505MT 5.5 K

FANUC Velocity controlA20B-0004-0171/11D

FANUC A06B-6064-H306 # H550 AC SPINDLE DRIVE UNIT

FANUC A06B-6044-H008 AC SPINDLE BASE UNIT ONLY

FANUC A06B-6044-H1007 AC SPINDLE UNIT 

FANUC A06B-6044-H108 AC SPINDLE DRIVE UNIT

FANUC POWER UNIT A16B-0061-B104-02 A16B0061B104

FANUC A16B-0061-B104-02 POWER UNIT

FANUC POWER UNIT A16B-0061-B103-03 

FANUC POWER UNIT A16B-0061-B102-02 A16B0061B102-02

YASNAC YASAKAWA CPCR-MR-052GE SERVO PACK FOR 2000B

YASNAC YASAKAWA CPCR-MR-082G FOR 2000G CPCRMR082G

YASNAC YASAKAWA CPCR-MR-053GC SERVO PACK FOR 2000B

YASNAC YASAKAWA DC SPINDLE DRIVE CDMR-MR-505MT 5.5 K

YASNAC YASAKAWA THYRISTOR EXCITER NPSA HC 90-15

MITSUBISHI FREQROL INVERTER FR-K-1500 OUTPUT 8A

MITSUBISHI AS-FA PREAMPLIFIER 

OKUMA OSP3000 E 4809-032-396 B-PROGRAM CONTROL PC1661-B

OKUMA OSP3000 E 4809-032-397-E INR BOARD PC1662-E 

OKUMA OSP3000 E 4809-032-398-C DATA BOARD PC1663-C 

OKUMA OSP3000 E 4809-045-013 E FILE BOARD PC1664-E 

OKUMA OSP3000 E 4809-032-400E POSITION READ PC1667E 

OKUMA OSP3000 E 0241-653-002D FDD,PUNCHER AND RS232C 

OKUMA OSP3000 E 4809-045-010 A. E/C I/O ISOLATION

OKUMA OSP3000 E 4809-747-005 C SERVO CONTROL DRIVE C800

OKUMA OSP3000 EUA-IC0827 CONTROL PANEL 

OKUMA OSP3000 E 4809-747-005 C SERVO CONTROL DRIVE

OKUMA OSP3000 RECTIFIER. E-0451-292-025

LSEIKI POWER SUPPLY PCMP

FUJI FVR G7 CONTROL

YASNAC YASAKAWA MT505 SPINDLE BOARD FOR 2000B AND 3000B

YASNAC YASAKAWA JANCD-EI0 01B FOR 2000B AND 3000B

YASNAC YASAKAWA JANCD-EI0 02B FOR 2000B AND 3000B

YASNAC YASAKAWA JANCD-ESR03B FOR 2000B AND 3000B

YASNAC YASAKAWA JANCD-ERF01 FOR 2000B AND 3000B

YASNAC YASAKAWA JPAC-C345 ORIENTATION BOARD JPAC C345

YASNAC YASAKAWA JANCD-SD20 ROM /RAM

YASNAC YASAKAWA JANCD CG-26 /27 MEMORY FOR LX-3

MITSUBISHI MELDAS FX 84A-7 MEMORY BOARD

FANUC A20B-1003-0090 05A SERVO TOP CARD

FANUC A20B-0008-0240 0RIENTATION BOARD

FANUC A16B-2203-0110 01 I/O C7

FANUC A16B-2201-0440 07B SPINDLE TOP BOARD

FANUC A16B-1210-0381 A ADD MEMORY