Patent ID: 7432674

Claim:
A control system, comprising: a single control apparatus serving as a master unit and one or more control apparatuses serving as slave units connected by a serial bus; and motors respectively and synchronously controlled by different control apparatuses, wherein each slave unit has a correcting unit which obtains a correction amount for aligning a slave timing signal generated by said slave unit, with a master timing signal transmitted by said master unit and received by said slave unit, and which corrects said slave timing signal in accordance with said correction amount, whereupon said slave timing signal corrected by said correcting unit is output to the motors controlled by said slave unit, said correcting unit including a phase comparator for determining said phase difference between said master timing signal transmitted by said master unit and received by said slave unit, and said slave timing signal generated and outputted by said slave unit, a period modification register, correction amount generating unit having an adder to obtain said correction amount by adding together an output of said phase comparator and a value stored in said period modification register, and signal generating unit to correct a timing signal generation period of said slave timing signal based on said correction amount generated by said correction amount generating unit, and generating said slave timing signal.