Control device for controlling a servo motor

A control device for controlling a plurality of servo motors to move an object to a predetermined position in a mechanical coordinate system having a plurality of coordinate axes, based on an externally supplied move command, said control device comprising:

• position detecting means for detecting a current position of said object on each of the coordinate axes of said mechanical coordinate system;
• interpolating means for setting a target position on each of said coordinate axes by interpolating the externally supplied move command;
• revolution control means for controlling a number of revolutions of each of said servo motors using a control gain individually set for each of said coordinate axes and in accordance with a difference between the detected current position of said object and the target position thereof on each of said coordinate axes, said revolution control means operating on a time-sharing basis so that control signals are output by said revolution control means to each of the respective servo motors with time delays therebetween;
• and
• control gain controlling means for controlling the control gain individually set for each of said coordinate axes based on control response delays which occur in each of the respective servo motors due to said time delays.

A control device for controlling at least two servo motors to move an object to a predetermined position in a mechanical coordinate system having a corresponding coordinate axis for each of said servo motors, based on an externally supplied move command, said control device comprising:

• position detecting means for detecting a current position of said object on each of the coordinate axes of said mechanical coordinate system;
• interpolating means for setting a target position on each of said coordinate axes by interpolating the externally supplied move command;
• revolution control means for controlling each of said servo motors using a prescribed control gain individually set for each of said coordinate axes and in accordance with a difference between the detected current position of said object and the target position thereof on each of said coordinate axes, said revolution control means outputting a corresponding control signal to each of the servo motors, with a time delay between the output signal provided to each respective servo motor;
• and
• control gain controlling means for controlling the control gain individually set for each of said coordinate axes based on control response delays which occur in each of the respective servo motors due to said time delay.