| 摘要 |
[Problem] To make setting-up easier to carry out. [Solution] A multi-axis motor driving system comprises: a plurality of motors (100) provided with encoders (102) for detecting speed; an upper-level control apparatus (200) for outputting motor control commands; a multi-axis motor driving apparatus (300) for driving the plurality of motors (100) on the basis of the motor control commands; and at least one linear scale (400) for detecting the position of the motor (100) at the load side. The multi-axis motor driving apparatus (300) comprises a unification control unit (302) that distinguishes between driving axles that use motors (100) that are controlled by semi-closed control on the basis of the motor control commands and the positions detected by the encoders (102), and driving axles that use motors (100) that are controlled by fully-closed control on the basis of the motor control commands and the positions detected by the encoders (102) and the linear scale (400), on the basis of the amount of change in the positions detected by the encoders (102) or the linear scale (400) upon driving the motors (100) controlled by fully-closed control. |
