Patent ID: 8587247

Claim:
A synchronous control apparatus to synchronously control a plurality of motors with respect to a control subject, comprising: a command device comprising: a first position controller which is configured to compute a work position based on a plurality of position information detected by a plurality of position detectors and which is configured to compute, based on a difference between a position command and the work position, a new position command, the plurality of position detectors being included in the control subject and configured to detect the plurality of position information of the plurality of motors respectively, the control subject including the plurality of motors and at least one coupler connecting movable axes of the plurality of motors; and a plurality of motor control devices each comprising: a second position controller configured to compute commands to drive the plurality of motors based on a difference between the new position command and the plurality of position information, wherein the control subject is a gantry mechanism including two motors as the plurality of motors, and wherein when the work position is expressed by an XY-axes coordinate system, the first position controller in the command device is configured to perform proportion integration control with respect to a difference between the position command and one of axis coordinate system positions of the work position, and when a distance between the movable axes of the two motors is defined as 1, a value obtained by multiplying a ratio in the distance between the axes by one of the plurality of position information, and a value obtained by multiplying a remaining ratio by another position information among the plurality of position information are added to each other, thereby computing the one of the axis coordinate system positions of the work position.