Mitsubishi Denki Kabushiki Kaisha

Yoshio Shinohara

Takahiro Hayashida

Torao Takeshita

Norikazu Iguchi

Harumi Maezawa

Akira Kaneko

Position droops produced in main and auxiliary servo motors when main and auxiliary spindles are coupled to each other through a workpiece are obtained by adders, respectively, a difference between those position droops is obtained by a comparator before coupling, a divider divides the position droop difference by the speed of the auxiliary servo motor at the time of detecting the position droop to obtain a position droop difference per a unit speed. Then, after both the spindles are coupled to each other, a multiplier multiplies the position droop difference by the present speed of the auxiliary servo motor, and the adder adds that value to the position command to the auxiliary servo motor. With the above structure, even if coupling is made through the workpiece and synchronization drive is made, an excessive torque can be prevented from occurring, an influence of a change of the change gear ratio with a time is eliminated and a displacement occurring at the time of coupling is corrected.

Synchronization control device for servo motors

A position command method and apparatus for shortening the acceleration and deceleration times of a servo controlled apparatus by effectively utilizing the torque of the controlled apparatus. A value of speed per unit time is developed on the basis of speed and position data, and a constant speed or an acceleration or deceleration function processing may be selectably performed. In the position commanding method and its unit of the present invention, the deceleration stop distance of output speed is computed at all times or is held as a list data as described above and moreover is compared with a residual distance XR. Consequently, the deceleration stop distance does not have to coincide with the residual portion from the acceleration command, and the acceleration/deceleration curve alone can be realized in an independent form. Also, the speed change can be made smoother by correcting the cross point of independently formed acceleration and/or deceleration curves defining a corner section.

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Tokyo, Japan

Yoshio Shinohara