Synchronous controller

A synchronous controller for controlling a master axis and a slave axis to be synchronized according to a synchronous multiplying factor as a speed ratio of the slave axis to the master axis, comprising:

• means for commanding a change of the synchronous multiplying factor from a first value to a second value;
• means for designating a motion amount of the master axis and a motion amount of the slave axis for the change of the synchronous multiplying factor, and a preliminary motion amount of the master axis before changing the synchronous multiplying factor;
• means for calculating a gradient of changing the synchronous multiplying factor and a residual motion amount of the master axis after changing the synchronous multiplying factor such that the designated motion amount of the slave axis has been completed and the synchronous multiplying factor has changed to the second value when the designated motion amount of the master axis is completed;
• and
• means for controlling motion of the slave axis with respect to the master axis according to the calculated gradient of changing the synchronous multiplying factor until the synchronous multiplying factor reaches the second value after the designated preliminary motion amount of the master axis is completed.

A synchronous controller for controlling a master axis and a slave axis to be synchronized according to a synchronous multiplying factor as a speed ratio of the slave axis to the master axis, comprising:

• means for commanding a change of the synchronous multiplying factor from a first value to a second value;
• means for designating a motion amount of the master axis for the change of the synchronous multiplying factor;
• means for calculating a motion amount of the slave axis for the change of the synchronous multiplying factor such that the synchronous multiplying factor starts changing simultaneously with motion of the master axis for the designated motion amount and reaches the second value when the designated motion amount of the master axis is completed;
• and
• means for outputting the designated motion amounts of the master axis and the calculated motion amounts of the slave axis for the change of the synchronous multiplying factor.

A synchronous controller for controlling a master axis and a slave axis to be synchronized according to a synchronous multiplying factor as a speed ratio of the slave axis to the master axis, comprising:

• means for commanding a change of the synchronous multiplying factor from a first value to a second value;
• means for designating a motion amount of the slave axis for the change of the synchronous multiplying factor;
• means for calculating a motion amount of the master axis for the change of the synchronous multiplying factor such that the synchronous multiplying factor starts changing simultaneously with motion of the slave axis for the designated motion amount and reaches the second value when the designated motion amount of the slave axis is completed;
• and
• means for outputting the calculated motion amounts of the master axis and the designated motion amounts of the slave axis for the change of the synchronous multiplying factor.

A synchronous controller for controlling a master axis and a slave axis to be synchronized according to a synchronous multiplying factor as a speed ratio of the slave axis to the master axis, comprising:

• means for commanding a change of the synchronous multiplying factor from a first value to a second value;
• means for designating a motion amount of the master axis and a motion amount of the slave axis for the change of the synchronous multiplying factor, and a gradient of changing the synchronous multiplying factor;
• means for calculating a preliminary motion amount of the master axis before changing the synchronous multiplying factor and a residual motion amount of the master axis after changing the synchronous multiplying factor such that the designated gradient of changing the synchronous multiplying factor is obtained;
• and
• means for controlling motion of the slave axis with respect to the master axis according to the designated gradient of changing the synchronous multiplying factor until a remaining motion amount of the master axis is made equal to the calculated residual motion amount after the calculated preliminary motion amount of the master axis is completed.