The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Apr. 04, 2000
Filed:
Apr. 21, 1999
Fanuc Ltd., Yamanashi, JP;
Abstract
A method of and an apparatus for controlling a plurality of servomotors, in which one driven body is driven by one main servomotor and at least one subordinate servomotor. Synchronous control is performed with good response and high accuracy and repetitive control is performed with simple arrangement preventing interference between axes, and further operation mode of the plurality of servomotors is easily switched between coupled driving and independent driving. A plurality of servomotors comprises one main servomotor and at least one other servomotor subordinate to the main servomotor, and position control is performed on the main servomotor side while velocity control and current control are performed individually for each servomotor. A velocity command for the main servomotor is subjected to a position adjustment based on a position deviation between the main servomotor and subordinate servomotor and the adjusted velocity command is used for the subordinate servomotor. Thus, the response is improved and synchronous control is performed with high accuracy.