Track control apparatus

A track control apparatus that controls a track of a movable part by simultaneously controlling motors for a plurality of movable axes, the track control apparatus comprising:

• an interpolation/acceleration and deceleration calculating unit that interpolates a given commanded route and executes an acceleration and deceleration calculation along the commanded route, thereby calculating a post-acceleration and deceleration interpolation route;
• an axis distributing unit that generates a position command for each movable axis from the post-acceleration and deceleration interpolation route;
• a servo-response calculating unit, for each movable axis, that calculates a servo response of each movable axis on the basis of the position command for each movable axis;
• a tangential-direction-servo-response calculating unit that calculates a tangential direction servo response of a tangential direction movement amount on the basis of the post-acceleration and deceleration interpolation route;
• a reference-point generating unit that calculates a correction reference point from the tangential direction servo response;
• a position-vector correcting unit that calculates, on the basis of the servo response of each movable axis and the correction reference point, a correction vector for suppressing a track error and corrects the position command for each movable axis with the correction vector, thereby outputting a post-correction position command for each movable axis;
• and
• a servo control unit that outputs motor driving torques to the motor for each movable axis respectively such that a position of each movable axis follow the post-correction position command for each movable axis.