| 摘要 |
PURPOSE:To omit necessity for providing each servo CPU with a trigonometric function generator by accessing a common trigonometric function generator from a servo CPU for controlling respective servomotors through a bus line and executing the operation of non-linear torque necessary for the control of the servomotors. CONSTITUTION:A trigonometric function generator (f) to be accessed in common from respective servomotors e1, e2 for rotating loads around respective axes theta1, theta2 is connected to a bus line. At the arithmetic processing of torque T1 generated around the axis theta1, a servo CPU c1 reads out a necessary trigonometric function value from the generator (f) to execute the operation through an on-line. Inverters d1, d2 control the current of the servomotors e1, e2.
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