Patent ID: 11283375

Abstract:
To avoid cost increase, delay of response, time, and performance degradation in driving a power source including a plurality of servo motors and/or a servo motor with a plurality of windings. A slave unit drives a power source including a plurality of servo motors and/or a servo motor with a plurality of windings using a plurality of amplifiers on the basis of a command from a high-order controller. The slave unit includes: a storage unit stores servo internal statuses of the respective servo motors and/or the respective windings, judgment data, and resource data; a servo internal status copying judgment unit determines a copying source and a copying destination, and judges whether to copy a servo internal status of the copying source to the copying destination to commonalize therebetween on the basis of the judgment data and the resource data; a servo internal status copying execution unit copies the servo internal status of the copying source to the copying destination; and a servo control unit outputs each of the plurality of servo internal statuses to the respective amplifiers to control driving of the power source.