Kabushiki Kaisha Sg

Shinichiro Uehara

Yasuhiro Yuasa

Wataru Ichikawa

Manabu Takei

Drive control units are provided each for one of plural drive shafts for controlling driving of the drive shaft in response to an individually imparted set value. A state parameter generation section generates, for each of the drive shafts, a parameter representing a state concerning a predetermined object of harmonization control among drive control states of the respective shafts produced by the drive control units. As the object of harmonization control, a desired factor may be selected depending upon necessity for the harmonization control. A position loop gain or a velocity loop gain, for example, may be selected as the object of harmonization control. A reference parameter generation section generates, responsive to the generated parameter representing the drive control state of each drive shaft, a reference parameter to be used as a reference of the harmonization control. The drive control state of each drive shaft in each of the drive control unit is corrected in response to the generated reference parameter. In the drive control unit, driving of each shaft is controlled individually in response to a set value which is individually imparted but, by correcting the drive control state in response to the reference parameter, the drive state of each shaft is harmoniously controlled in response to the reference parameter whereby a control for harmonizing the movements of an extremely large number of drive shafts can be realized.

Harmonization control system for plural shafts

There are provided a position and velocity control system for producing a velocity command signal in response to a position command signal and a signal representing a current position and velocity of a servo motor, a current control system for supplying a drive current to the servo motor in response to the velocity command signal, and a communication system for transmitting data between the two systems by means of a bilateral communication line. A servo control system is thereby separated between the current control system and the position and velocity control system and connected to each other through the communication system. This separation through the communication system is advantageous for protecting the position and velocity control system from influence of noise generated in the current control system and also brings about benefits such as expansion of the controllability owing to the bilateral communication, sharing of a single current control system by plural servo motors by switching connection of the servo motors and controllability of plural pairs of servo motor and current control system by a single position and velocity control system by a multi-point connection.

Servo control system

There are provided servo motors and servo control units for n shafts. A setting device previously sets parameters for servo control individually for each of the n shafts and previously sets parameters for servo control for a synchronizing operation. Data which determines synchronization conditions of servo motors of respective shafts is applied, when required, by an input device independently of setting by the setting device. The data which determines the synchronization conditions includes, for example, data of combination of synchronized shafts and data of section for synchronization. A moving pattern preparation device determines servo motor shafts to be synchronously controlled on the basis of the synchronization condition determining data applied through the input device and prepares a moving pattern to a target position on the basis of the parameters for servo control set by the setting device with respect to each servo motor shaft to be synchronously controlled. Positioning control data corresponding to the prepared moving pattern is supplied to the servo control unit corresponding to each shaft to synchronously control the servo motor corresponding to each shaft. The synchronization conditions can be changed, when required, by the input device.

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Tokyo, Japan

Shinichiro Uehara