Gantry drive system, motor control system, and control method

A motor control system comprising:

• a controller configured to control a first motor that drives a driving object along a first axis, and a second motor that drives the driving object along a second axis parallel with the first axis;
• and
• a mode switch configured to perform a switching between a first control mode in which a position of the driving object on each of the first and second axes is individually controlled while reducing an inter-axis positional deviation between the first and second axes, the inter-axis positional deviation being a deviation between the position of the driving object on the first axis and the position of the driving object on the second axis, and a second control mode in which a rotational state of the driving object is controlled while controlling a position of the driving object, based on detected positions of the driving object on the first and second axes,
• wherein the controller controls the first and second motors according to the control mode switched by the mode switch.

A control method comprising:

• controlling a first motor that drives a driving object along a first axis, and a second motor that drives the driving object along a second axis parallel with the first axis;
• and
• performing a switching between a first control mode in which a position of the driving object on each of the first and second axes is individually controlled while reducing an inter-axis positional deviation between the first and second axes, the inter-axis positional deviation being a deviation between the position of the driving object on the first axis and the position of the driving object on the second axis, and a second control mode in which a rotational state of the driving object is controlled while controlling a position of the driving object, based on detected positions of the driving object on the first and second axes,
• wherein the controlling the first and second motors includes controlling the first and second motors according to a switched control mode.