| 摘要 |
PROBLEM TO BE SOLVED: To provide a synchronous controller capable of controlling a plurality of driving sources in synchronization and preventing the generation of the non-uniformity of a tensile force and the breakage of a chain-like member. SOLUTION: This synchronous controller moves a chain having a plurality of tool pots by a master motor Ma and a slave motor Mb, indexes information about positions of motors and tools to be taken out by position control parts 19A, 19B, respectively, obtains positional deviation from information about these positions by a synchronous error computing means 21, and obtains a speed error in computation by a computed speed error computing means 25. Speed control parts 22A, 22B obtain information about speeds of both the motors Ma, Mb and obtain an actual speed error by an actual speed error computing means 24. This synchronous controller computes values for ordering speed correction from both the speed errors by a speed correction computing means 26, converts them into correction current values to determine that they are correction allowance values or smaller by a comparing and determining means 27, and inputs them into a current control part 30B on a slave motor side to add a current in order to control the slave motor in synchronization with the master motor. COPYRIGHT: (C)2009,JPO&INPIT
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