| 摘要 |
PROBLEM TO BE SOLVED: To provide an embroidery machine having individual motors for individually driving mechanical elements such as needle rods, balances, cloth pressers in a plurality of heads respectively in which there is no hindrance in response even when the rotational speed and the rotational direction of the motors are frequently changed and the intensity of tension to a needle thread can be controlled and specifically the intensity of tension applied to the needle thread when the balances come down can be controlled. SOLUTION: In the respective mechanical elements such as the needle rods, the balances, and the cloth pressers, the respective motors are controlled through a position deviation calculating step (S21), a speed deviation calculating step (S24), and a torque deviation calculating step (S31), however in the balances during a specific period from an upper dead center to a lower dead center of the balances, the values of torque deviation (the second torque deviation) are calculated from the torque data determined in advance according the angle of the motors for the balances and the values of the torque based on the current values fed to the motors, and the motors for the balances are controlled according to the values of the second torque deviation. COPYRIGHT: (C)2010,JPO&INPIT
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