Patent ID: 6046566
Filing Date: 2000-04-04
Classification: G05B

Abstract:
A method of controlling a main servomotor and at least one sub-servomotor to cooperatively drive one driven body by synchronizing said main servomotor and said sub-servomotor with each other, comprising the steps of:(a) performing position control processing for said main servomotor to output a common velocity command for said main servomotor and for said sub-servomotor;(b) performing velocity control processing for said main servomotor based on said common velocity command;(c) obtaining a position adjusting value for said sub-servomotor by multiplying a difference between a position feedback value of said main servomotor and a position feedback value of said sub-servomotor by a gain having the same value as that of a position gain used in the position control processing for said main servomotor, and adjusting said common velocity command using said position adjusting value;(d) performing velocity control processing for said sub-servomotor based on the adjusted velocity command.