Synchronous control apparatus

摘要

A synchronous control apparatus capable of switching cam curves with ease and without delay is provided. A cam curve storing unit stores a representation of a first cam curve and a representation of a second cam curve. Before switch-over of the cam curves, a control unit finds a position command value to a driven-side member, after the switch-over of the cam curves, the control unit finds the position command value, and in a switch-over period of the cam curves, the control unit finds the position command value to the driven-side member based on a value obtained by utilizing first data based on the first cam curve or a position of the driven shaft and second data based on the second cam curve to provide a weighted average at each control timing.

主权项

1. A synchronous control apparatus that executes synchronous control of a main shaft and a driven shaft in each control period, comprising:
a storage that stores a representation of a first cam curve and a representation of a second cam curve; and a controller that calculates a position command value of the driven shaft to control the driven shaft with the calculated position command value, wherein before switch-over of the cam curves, the controller finds the position command value to a driven-side member, based on a value on the first cam curve at each control timing, after the switch-over of the cam curves, the controller finds the position command value, based on a value on the second cam curve at each control timing, and in a switch-over period of the cam curves, the controller finds the position command value to the driven-side member based on a value obtained by utilizing first data based on one of the first cam curve and a position of the driven shaft and second data based on the second cam curve to provide a weighted average at each control timing, wherein in the weighted average, a weight is variable in conjunction with a main shaft position, and at start timing of the switch-over period, a weight of the first data is set larger than a weight of the second data, and at end timing of the switch-over period, the weight of the first data is set smaller than the weight of the second data.