| 摘要 |
PROBLEM TO BE SOLVED: To provide a synchronizing control device which enables a highly precise synchronizing control by absolutely making an adjustment of origin of a main unit and its follower unit without causing a phase difference even when a decelerator is used. SOLUTION: The phases of the motor shaft and the machine shaft of the main unit are always detected by phase detectors 27, 33 from an output of a rotary encorder Rm of the main unit motor Im and an output of a main unit mechanical shaft origin detector Lm. The phases of the motor shaft and the machine shaft of the follower unit are always detected by phase detectors 29, 35 from an output of a rotary encorder Rs1 of the follower unit motor Is1 and an output of a follower unit mechanical shaft origin detector Ls1. The phase deviation between the main unit machine shaft and the follower unit machine shaft is detected by a machine shaft phase deviation detector 36, and the phase deviation between the main unit motor shaft and the follower unit motor shaft is detected by a motor shaft phase deviation detector 30. With these outputs of phase deviation, the synchronizing control between the main unit and the follower unit is made by making the adjustment of the origin of the machine shafts between the main unit and the follower unit, and successively making the adjustment of the motor shafts of the main unit and the follower unit. |
