Kabushiki Kaisha Tokyo Kikai Seisakusho

Ikuo Kotani

Noriyuki Shiba

Takeshi Mitsuhashi

Masakatsu Fujita

Keiichi Fukushima

Toru Akiyama

Hiroyuki Hisada

A synchronization control device and a synchronization control method are provided in which it includes controllers Am and Asof a master section and a slave section for accurately synchronizing rotational frequency and rotation phases of driving electric motors Mm and MsThe controller Asincludes rotational frequency detectors SsFsa master phase counter Cmand a slave phase counter Csand detects at all times both of a rotational frequency and a rotation phase of the electric motors Mm of the master based upon an output of the rotary encoder Pm, and further detects at all times both of a rotational frequency and a rotation phase of the electric motor Msof the slave. A phase deviation calculator Hs1 is provided to calculate synchronization phase deviation at all times, and when a switch RYsis actuated, it corrects an output of the rotational frequency detection means Ssbased upon the phase deviation and matches origins of the electric motors of the master section and the slave section to shift the operation to synchronization control.

Method and device for synchronization control

The present invention relates to a detecting device of rotational position deviation, which detects deviation of the rotational position of machine axes driven by electric motors with pulse signals outputted from pulse generators, which are attached to at least two electric motors. One or more deceleration mechanisms are provided between an electric motor and a machine axis connected to the electric motor. A pulse transducer transforms two pulse trains outputted from the pulse generators to one pulse train, and an integrating counter counts the pulse train which is outputted from the pulse transducer, thus corresponding to the rotation angle. A zero phase pulse is outputted by each rotation of the pulse generator. The invention further comprises a count transducer transforming the count output from the integrating counter, and a calculator of rotational position counter calculating the output of the integrating counter and the count transducer and outputting rotational position errors.

Device for detecting rotational position deviation

A synchronous control device according to the present invention completes an origin matching between a master section and a slave section without causing a phase difference even when a deceleration device is employed in the master section or in the slave section so as to perform an accurate synchronous control. The synchronous control device constantly detects the phase of a shaft of a master electric motor by a phase detector of the master electric motor according to the outputs of a master rotary encoder, and the phase of a shaft of the master machine by a phase detector of the shaft of the master machine according to the outputs of a master rotary encoder and an origin detector of the shaft of the master machine. In the same manner, the phase of a shaft of a slave electric motor is constantly detected by a phase detector of the slave electric motor according to the outputs of a slave rotary encoder, and the phase of a shaft of a slave machine is constantly detected by a phase detector of the shaft of the slave machine according to the outputs of a slave rotary encoder and an origin detector of the shaft of the slave machine. Then a first phase deviation between the shaft of the master machine and shaft of the slave machine by a first phase deviation detector, and a second phase deviation between the master electric motor and the slave electric motor by a second phase deviation detector for the electric motors are calculated. After an origin between the shaft of the master machine and the shaft of the slave machine is matched based on the first phase deviation, continuously an origin between the master electric motor and the slave electric motor is matched based on the second phase deviation so as to perform the synchronous control.

Synchronous control device

A synchronization control device and a synchronization control method are provided in which it includes controllers Am and As,of a master section and a slave section for accurately synchronizing rotational frequency and rotation phases of driving electric motors Mm and Ms,The controller As,includes rotational frequency detectors Ss,Fs,a master phase counter Cm,and a slave phase counter Cs,and detects at all times both of a rotational frequency and a rotation phase of the electric motors Mm of the master based upon an output of the rotary encoder Pm, and further detects at all times both of a rotational frequency and a rotation phase of the electric motor Ms,of the slave. A phase deviation calculator Hs1 is provided to calculate synchronization phase deviation at all times, and when a switch RYs,is actuated, it corrects an output of the rotational frequency detection means Ss,based upon the phase deviation and matches origins of the electric motors of the master section and the slave section to shift the operation to synchronization control.

Growing community of inventors

Ebina, Japan

Ikuo Kotani