| 摘要 |
PROBLEM TO BE SOLVED: To perform more accurate and stable, optimum control by achieving compound control where position, speed, and torque of two servo motors are correlated without adding separate control mechanisms. SOLUTION: First and second servo motor control devices 3 and 4 for supplying power suited for each servo motor according to a command to control each of first and second axis servo motors 1 and 2 are provided with current detectors 11 and 21 for performing feedback control, by detecting the actual values of the position, speed, and current of each servo motor with each encoder, encoder pulse counters 12 and 22, and torque/position/speed detection means 13-15 and 23-25. The position, speed, and output torque of the first servo motor which is detected by the first servo motor control device are inputted to a computing element 27 of the second servo motor control device, thus controlling the position, speed, and torque of the second servo motor based on a result calculated with a preset, prescribed relationship. |
