Synchronous control apparatus

A synchronous control apparatus to synchronously control a plurality of motors with respect to a control subject, comprising:

• a command device comprising:
• a first position controller which is configured to compute a work position based on a plurality of position information detected by a plurality of position detectors and which is configured to compute, based on a difference between a position command and the work position, a new position command, the plurality of position detectors being included in the control subject and configured to detect the plurality of position information of the plurality of motors respectively, the control subject including the plurality of motors and at least one coupler connecting movable axes of the plurality of motors;
• and
• a plurality of motor control devices each comprising:
• a second position controller configured to compute commands to drive the plurality of motors based on a difference between the new position command and the plurality of position information,
• wherein the control subject is an arc locus mechanism, and
• wherein when the work position is expressed by an angle of the machine coupler, the first position controller in the command device is configured to perform proportion integration control with respect to the difference between the position command and the work position, all of the plurality of position information is averaged and computed to compute the work position.

A synchronous control apparatus to synchronously control two motors with respect to a control subject which is a gantry mechanism, comprising:

• a position measuring device configured to measure one of axis coordinate system positions of a work position which is expressed by an XY-axes coordinate system;
• a command device comprising:
• a first position controller configured to compute, based on a difference between a position command and a work position information according to the one of axis coordinate system positions of the work position measured by the position measuring device, a new position command;
• first and second motor control devices each comprising:
• a second position controller configured to compute a command to drive the two motors based on a difference between the new position command and two position information detected by two position detectors, the two position detectors being included in the control subject and configured to detect the two position information of the two motors respectively, the control subject including the two motors and a coupler connecting movable axes of the two motors;
• and
• a third motor control device which has a same function as a function of the first or second motor control device, and to which one of the axis coordinate system positions of the work position is input to output the one of the axis coordinate system positions of the work position to the command device.

A synchronous control apparatus comprising:

• a first axis to drive a control subject comprising:
• a plurality of first motors;
• a plurality of position detectors configured to detect a plurality of position information of the plurality of first motors respectively;
• and
• at least one machine coupler connecting movable axes of the plurality of first motors;
• a second axis to drive another control subject comprising:
• a second motor;
• a position detector configured to detect position information of the second motor;
• and
• a machine connector to connect a movable axis of the second motor;
• and
• a command device configured to make the first axis and the second axis carry out an arc interpolation operation of an XY-axes coordinate system based on a position command,
• wherein the first axis configures a position integration proportion and velocity proportion control system, and the second axis configures a position proportion and velocity integration proportion control system,
• wherein a first position proportion gain in the first axis is set such that the first position proportion gain matches with a reciprocal of velocity integration time in the second axis, and
• wherein a position integration time in the first axis is set such that the position integration time matches with a reciprocal of a second position proportion gain in the second axis.