| 摘要 |
PROBLEM TO BE SOLVED: To provide a synchronization controller for a servo press capable of rapidly compensating a delay of a position controller owing to an eccentric load of a slide vertically driven with plural servomotors. SOLUTION: When top dead center positioning for an A shaft, a B shaft by means of respective servomotors is finished, a slide is started to lower, bottom dead center positioning is started, and press work is started from a work starting point. After confirming that a slide position does not reach a preset bottom dead center position and that the slide position does not overshoot to a position command value, a screw shaft having a large followup delay is judged as a compensating shaft when a positional deviation between the screw shafts exceeds an allowable value. For example, it is advanced to (a) when it is the A shaft, a position loop gain Kp and a speed loop gain Kv being a servo parameter are stepwise and moreover continuously updated to the large side in accordance with the quantity of deviation to raise the followup ability, and the positional deviation and the deviation between the shafts with the positive command value are reduced.
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