| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a multiaxis controller for quickly executing the torque correction of its own shaft for disturbing torque when driving another shaft. <P>SOLUTION: A controller 1 transmits one shaft position command for one shaft and a two shaft position command to another shaft to a network 2 with a predetermined format. A one shaft servo amplifier 3 and a two shaft servo amplifier 4 fetch a corresponding position command and a position command corresponding to the other party from the network 2. When a two shaft movable part 11 is moved, and a force F2 acting toward the positive value side of a horizontal axis is generated, a reaction force F1 acting toward the negative value side of the horizontal axis based on the force F2 is applied to one shaft movable part 7. The reaction force F1 is turned to be disturbance to one shaft. The one shaft servo amplifier 3 corrects a driving value to be applied to the servo motor 5 by estimating the disturbing torque equivalent to the reaction force F1 from the position command for two shafts. <P>COPYRIGHT: (C)2007,JPO&INPIT |
