JP2007272367A - Multiple-shaft synchronization system and control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a multiple-shaft synchronization system, capable of performing high-speed and accurate drive of a table while reducing the processing load of a servo amplifier. <P>SOLUTION: The system comprises an average acceleration calculation part (control part) 20A for determining an average acceleration from speed data of all shafts measured at the same time; and a control part 20A, 20B, 20C, 20D provided on each shaft and connected with the average acceleration calculation part (control part) 20A through an amplifier-to-amplifier communication line, the control part outputting speed data of the own shaft to the calculation part 20A, inputting the average acceleration from the calculation part 20A to determine a difference value between the average acceleration and the acceleration of the own shaft, and calculating a torque compensation value based on the difference value. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a multi-axis synchronization system that drives a table employed in a servo press device, an injection molding machine, or the like while synchronizing a plurality of servo axes.

  FIG. 9 is a perspective view showing a drive system of the multi-axis synchronization system. In FIG. 9, the table 70 is supported by four servo axes. The four servo shafts are four ball screws 80A, 80B, 80C, 80D penetrating the four corners of the table 70, and servo motors connected to the lower ends of the ball screws 80A, 80B, 80C, 80D. To fourth motors 51A, 51B, 51C, 51D. The four servo axes move the table up and down in response to a position command input from a host controller (not shown). At this time, the four servo axes are controlled with the expectation of keeping the balance so that the table 70 is always horizontal when the same position command is input.

  However, when the table 70 is actually moved up and down, there is an error between the axes between the servo axes due to unbalanced loads acting on the table 70, variations in control gain, machine friction, assembly errors, and the like. May occur. When the inter-axis error increases, the table 70 is in a state where the tilt balance cannot maintain a predetermined allowable value. If the machining operation is performed in such a state, not only the machining cannot be performed with accuracy, but also the apparatus becomes stressed and causes a shortened apparatus life, which is a problem.

  Therefore, conventionally, the following proposals have been made. That is, among a plurality of servo axes involved in operation, one axis is distinguished as a master axis and the remaining are slave axes, and the master axis performs control to reduce the deviation between the position feedback value and a predetermined target position during movement. Proposition to position the target position, while positioning the slave axis by following the position feedback of the master axis, thereby moving the table while keeping the balance within the allowable value. (For example, refer to Patent Document 1).

  However, in the proposed control method, the position feedback of the master axis is received by the controller, and then the communication delay time is corrected to obtain the slave axis position command. Therefore, it is necessary to create a position command that takes into account a delay corresponding to the communication time in the correction in the communication time period of the controller and the position command. After obtaining the position feedback information of the master axis, the correction processing is performed to obtain the slave axis. There is a problem that the time until the command is output is long.

  Therefore, conventionally, a method for performing synchronization control by communicating between servo amplifiers without going through a controller has been proposed. In this method, the servo and encoder of each axis are connected via a communication line, and the slave servo amplifier monitors two types of information: the position feedback of the own axis motor and the position feedback of the master side servo motor. In this method, a correction amount based on the detected position difference between the motors is obtained and the position command is corrected. Also proposed is a method of multiplying the motor speed obtained by differentiating the position feedback of each motor by a correction gain and adding it to the speed command (see, for example, Patent Document 2).

JP 2003-230996 A JP 2003-44143 A

  However, in the control method described in Patent Document 2, the process of acquiring the position feedback of the servo motor of the own axis, the process of acquiring the position feedback of the servo motor of the counterpart axis, and differentiating each position feedback Therefore, it is necessary to perform the processing for obtaining the speed with a single servo amplifier, which has an unresolved problem that a large burden is imposed on the CPU of the slave servo amplifier. In addition, this control method has an unsolved problem that the load on the CPU of each servo amplifier increases as the number of axes for performing synchronous control increases.

  The present invention has been made to solve the above-described problems. In a multi-axis synchronization system that drives a plurality of servo axes while synchronizing them, a high-speed and high-precision table drive is performed and the processing load of the servo amplifier is increased. The purpose of the present invention is to obtain a multi-axis synchronization system and its control method that perform torque correction within each servo amplifier without using a host controller having a long processing time.

  In order to solve the above-mentioned problems, a multi-axis synchronization system according to the present invention obtains an average acceleration from speed data of all axes measured at the same timing in a multi-axis synchronization system that drives while synchronizing a plurality of servo axes. An average acceleration calculation unit, provided on each axis, connected to the average acceleration calculation unit via an amplifier-to-amplifier communication line, and outputs the velocity data of the own axis to the average acceleration calculation unit and the average acceleration calculation unit And a controller that calculates a difference value between the average acceleration and the acceleration of the own axis, and calculates a torque compensation value based on the difference value.

  Further, the multi-axis synchronization system according to the next invention is an multi-axis synchronization system that drives while synchronizing a plurality of servo axes, and an average speed calculation unit that obtains an average speed from speed data of all axes measured at the same timing; Provided on each axis, connected to the average speed calculation unit and an amplifier-to-amplifier communication line, and outputs the speed data of the own axis to the average speed calculation unit, and the average speed is calculated from the average speed calculation unit. And a control unit that calculates a difference value between the average speed and the speed of the own axis and calculates a torque compensation value based on the difference value.

  Further, the multi-axis synchronization system according to the next invention is a multi-axis synchronization system that drives while synchronizing a plurality of servo axes, and obtains an average position deviation from position deviation data of all axes measured at the same timing. A calculation unit, provided on each axis, connected to the average position deviation calculation unit and a communication line between amplifiers, and outputs the position deviation data of its own axis to the average position deviation calculation unit and the average position deviation A control unit that inputs the average position deviation from the calculation unit, obtains a difference value between the average position deviation and the position deviation of the own axis, and calculates a torque compensation value based on the difference value; And

  Further, the control method of the multi-axis synchronization system according to the present invention is a control method of the multi-axis synchronization system that drives while synchronizing a plurality of servo axes, and is performed on each axis, and the speed data of all axes are measured at the same timing. Then, the speed data transmission step for transmitting to the average acceleration calculation unit via the amplifier-to-amplifier communication line, the average acceleration calculation unit obtains the average acceleration from the speed data of all axes, and the average acceleration is set for each axis. An average acceleration calculation step to be transmitted, and is performed in each axis, receives the average acceleration from the average acceleration calculation unit, obtains a difference value between the average acceleration and the acceleration of the own axis, and generates torque based on the difference value And a torque compensation value calculating step for calculating a compensation value.

  Furthermore, the control method for a multi-axis synchronization system according to the present invention is a control method for a multi-axis synchronization system that drives while synchronizing a plurality of servo axes, and is performed for each axis, and the velocity data for all axes are measured at the same timing. Then, the speed data transmission step for transmitting to the average speed calculation unit via the amplifier-to-amplifier communication line, the average speed calculation unit obtains the average speed from the speed data of all axes, and the average speed is set for each axis. An average speed calculation step to be transmitted, and is performed in each axis, receives the average speed from the average speed calculation unit, obtains a difference value between the average speed and the speed of the own axis, and generates torque based on the difference value And a torque compensation value calculating step for calculating a compensation value.

  Furthermore, the control method for a multi-axis synchronization system according to the present invention is a control method for a multi-axis synchronization system that drives a plurality of servo axes while synchronizing them. In the position deviation data transmission step to be measured and transmitted to the average position deviation calculator via the amplifier-to-amplifier communication line, the average position deviation calculator determines the average position deviation from the position deviation data of all axes, An average position deviation calculation step for transmitting the average position deviation to each axis, and the average position deviation performed on each axis, receiving the average position deviation from the average position deviation calculating unit, and calculating the average position deviation and the speed of the own axis. A torque compensation value calculating step of obtaining a difference value and calculating a torque compensation value based on the difference value.

  According to the multi-axis synchronization system and the control method thereof according to the present invention, in the multi-axis synchronization system employed in the servo press device, the injection molding machine, etc., using the inter-amplifier communication, the motor speed of each axis The acceleration of the system is calculated, the torque can be corrected at high speed and with high accuracy from the difference from the acceleration of the own axis, and the synchronization accuracy of the multi-axis synchronization system can be improved. Also, using the inter-amplifier communication, calculate the average speed of the system from the motor speed of each axis and compensate the torque from the difference from the speed of the own axis, or use the inter-amplifier communication, The method of calculating the average position deviation of the system from the position deviation of the axis and compensating the torque from the difference of the position deviation of the own axis also has the effect that the synchronization accuracy of the multi-axis synchronization system can be improved.

  Embodiments of a multi-axis synchronization system and a control method therefor according to the present invention will be described below in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

Embodiment 1 FIG.
FIG. 1 is a block diagram showing a multi-axis synchronization system according to the first embodiment. The multi-axis synchronization system of the present embodiment has a drive system including a table 70 and four servo axes, as in the background art shown in FIG. The four servo shafts are four ball screws 80A, 80B, 80C, 80D penetrating the four corners of the table 70, and servo motors connected to the lower ends of the ball screws 80A, 80B, 80C, 80D. To fourth motors 51A, 51B, 51C, 51D.

  As shown in FIG. 1, the four servo axes detect the positions and speeds of servo amplifiers 50A, 50B, 50C, and 50D that drive motors 51A, 51B, 51C, and 51D, and motors 51A, 51B, 51C, and 51D. Detectors 52A, 52B, 52C, 52D. The servo amplifiers 50A, 50B, 50C, and 50D have control units 20A, 20B, 20C, and 20D that calculate torque compensation values for the motors 51A, 51B, 51C, and 51D, and the control units 20A, 20B, 20C, and 20D. Performs torque correction with the torque compensation value calculated for the same position command input from the host controller 60.

  The servo amplifiers 50A, 50B, 50C, 50D have controller communication units 10A, 10B, 10C, 10D in order to communicate with the controller 60. The host controller 60 and the servo amplifiers 50A, 50B, 50C, and 50D are connected by a dedicated communication cable. As shown in FIG. 2, the controller 60 is connected to the servo amplifiers 50A, 50B, 50C, and 50D at regular intervals. A position command is transmitted to the servo amplifier 50A, 50B, 50C, 50D, and position feedback is returned to the controller 60.

  The servo amplifiers 50A, 50B, 50C, and 50D further include inter-amplifier communication transmission / reception units 30A, 30B, 30C, and 30D for the purpose of communication between the servo amplifiers. The transmission / reception units 30A, 30B, 30C, and 30D are connected by a dedicated communication cable (a communication line between amplifiers). The inter-amplifier communication using this dedicated communication cable can be performed at a higher speed than the communication cycle between the controller 60 and the servo amplifiers 50A, 50B, 50C, 50D, and can be arbitrarily set by setting the information source. Data (for example, position feedback) can be transmitted to and received from other servo amplifiers.

  FIG. 3 is a timing chart of communication between amplifiers. As shown in FIG. 3, each of the servo amplifiers 50A, 50B, 50C, 50D performs transmission processing and reception processing at a constant period. In the present embodiment, the communication cycle between the servo amplifiers 50A, 50B, 50C, and 50D is set to 222 μs, and communication is performed at a speed approximately four times faster than the communication cycle 888 μs of the controller 60.

  Next, control in the servo amplifiers 50A, 50B, 50C, 50D will be described. FIG. 4 is a block diagram showing the torque correction operation of the control units 20A, 20B, 20C and 20D of the servo amplifiers 50A, 50B, 50C and 50D. The control units 20A, 20B, 20C, and 20D that operate in this portion perform the same operation on all four axes. The control unit 20 is representatively shown. In FIG. 4, the control unit 20 inputs the position command from the controller 60 to the reference model control unit 21 and outputs a model position command, a model speed command, and a model torque acceleration command. The position control unit 22 obtains an actual speed command by multiplying the difference between the model position command and the actual position by a position gain. The speed control unit 23 multiplies the actual speed command output from the position control unit 22 and the model speed command by subtracting the actual speed, and multiplies the speed gain to obtain the actual torque command. A model torque obtained by multiplying the model acceleration by the inertia in the model torque calculation unit 24 is added to the actual torque command, and the output of the torque correction unit 25, which is also a feature of the present embodiment, is added to give the torque command. calculate.

  FIG. 5 is a detailed system diagram for explaining the movement of torque correction control data. In FIG. 5, inter-amplifier communication transmitting / receiving units 30A, 30B, 30C, 30D are functionally configured to receive units 30A-1, 30B-1, 30C-1, 30D-1, and transmitting units 30A-2, 30B-2. , 30C-2 and 30D-2. The servo amplifier 50A for the master axis receives the speed data calculated for each axis of the slave axis and transmitted via the transmitters 30B-2, 30C-2, and 30D-2 using the inter-amplifier communication. 1 is received. Then, the master axis control unit 20A as the average acceleration calculation unit calculates the average acceleration of the entire system by combining the speed data of each axis and the speed data of the own axis. Then, the calculated average acceleration is transmitted from the transmission unit 30A-2 to each slave axis using inter-amplifier communication. Each slave axis receives this average acceleration at the receiving units 30B-2, 30C-2, and 30D-2. And the control part 20B, 20C, 20D calculates the torque compensation value of a self-axis from the received average acceleration.

  FIG. 6 is a flowchart showing the procedure of the control method of the multi-axis synchronization system of the present embodiment. The servo amplifiers 50A, 50B, 50C, and 50D for both the master axis and the slave axis periodically obtain position feedback information from the detectors 52A, 52B, 52C, and 52D at the same timing. From the feedback, the actual speed of the motor used in the speed control is calculated (steps S1 and S11). After that, the slave axis sets the speed data in the transmission section of the inter-amplifier communication at the time when the inter-amplifier communication is transmitted, and transmits the speed data to the master axis (speed data transmission step: step S12).

  The master axis acquires the motor speeds of all axes at the reception timing of the inter-amplifier communication (step S2), and the master axis control unit 20A as the average acceleration calculating unit first averages the motor speeds of all the axes. To calculate the system average speed (step S3). Next, the control unit 20A calculates the system average acceleration from the difference from the previous system average speed (average acceleration calculation step: step S4). The calculated system average acceleration is transmitted to each slave axis at the transmission timing of communication between the amplifiers of the master axis (step S5).

  After all the slave axes have received the system average acceleration (step S13), at the same timing, the servo amplifiers 50A, 50B, 50C, and 50D for each of the master axis and the slave axis have an inertia in the difference between the system average acceleration and the acceleration of the own axis. To calculate a torque compensation value (torque compensation value calculation step: steps S6 and S14) and set it in the torque correction unit. After that, by performing torque correction at the same timing, disturbance torque that is a factor causing an error between axes is corrected (steps S7 and S16).

  As described above, by using the inter-amplifier communication, the calculation of the motor speed and the calculation of the torque compensation value can be performed by the servo amplifiers 50A, 50B, 50C, and 50D in a distributed manner. And the load on the CPU of the servo amplifiers 50A, 50B, 50C, 50D is reduced.

  As described above, in the multi-axis synchronization system of the present embodiment, in the multi-axis synchronization system employed in the servo press device, the injection molding machine, etc., using the inter-amplifier communication, the motor speed of each axis The acceleration of the system is calculated, the torque can be corrected at high speed and with high accuracy from the difference from the acceleration of the own axis, and the synchronization accuracy of the multi-axis synchronization system can be improved.

  In the present embodiment, the average acceleration calculation unit is provided in the master axis control unit 20A. However, the average acceleration calculation unit is not necessarily provided in the master axis control unit 20A. It may be provided in another place that is not an axis, and may be connected to the servo amplifiers 50A, 50B, 50C, and 50D of each axis via an amplifier-to-amplifier communication line.

  In this embodiment, a dedicated communication cable is provided for the purpose of communication between servo amplifiers. However, inter-amplifier communication can also be performed using a communication cable between the host controller 60 and the servo amplifiers 50A, 50B, 50C, and 50D. In this case, a new dedicated cable is used. There is no need to prepare. That is, the communication cable connecting the host controller 60 and the servo amplifiers 50A, 50B, 50C, and 50D shown on the left side of FIG. 1 and the servo amplifiers 50A, 50B, 50C, and 50D shown on the right side are connected. The communication cable to be connected may be the same cable.

  Furthermore, in the present embodiment, a method for calculating the torque compensation value from the difference between the average acceleration of the system and the acceleration of the own axis is proposed, but the calculation of the torque compensation value is not limited to this method. Applying a correction gain to the difference between the average speed of the system and the average speed of the own axis to obtain a torque compensation value, or applying a correction gain to the difference between the average position deviation of the system and the position deviation of the own axis and the torque compensation value There is also a way to do it.

Embodiment 2. FIG.
FIG. 7 is a flowchart showing a control method of the multi-axis synchronization system of the second embodiment. The apparatus configuration of the present embodiment is the same as that of the first embodiment shown in FIG. In the present embodiment, a torque compensation value is obtained by applying a correction gain to the difference between the average speed of the system and the average speed of the own axis. In FIG. 7, the servo amplifiers 50A, 50B, 50C, and 50D for both the master axis and the slave axis periodically acquire position feedback information from the detectors 52A, 52B, 52C, and 52D at the same timing. From the previous position feedback, the actual speed of the motor used in the speed control is calculated (steps S31 and S41). Thereafter, the slave axis sets speed data in the transmission section of the inter-amplifier communication at the time when the inter-amplifier communication transmission timing comes, and transmits the speed data to the master axis (speed data transmission step: step S42).

  The master axis acquires the motor speeds of all axes at the reception timing of the communication between the amplifiers (step S32), and the master axis control unit 20A as the average speed calculation unit averages the motor speeds of all the axes. An average speed is calculated (average speed calculation step: step S33). The calculated system average speed is transmitted to each slave axis at the transmission timing of communication between the amplifiers of the master axis (step S34).

  After all the slave axes have received the system average speed (step S43), at the same timing, the servo amplifiers 50A, 50B, 50C, and 50D for each of the master axis and slave axis are corrected to the difference between the system average speed and the own axis speed. By multiplying the gain, a torque compensation value is calculated (torque compensation value calculating step: steps S35 and S44) and set in the torque correction unit. After that, by performing torque correction at the same timing, the disturbance torque that is a factor causing the error between the axes is corrected (steps S36 and S45).

  In this way, the synchronization accuracy of the multi-axis synchronization system can also be obtained by calculating the average system speed from the motor speed of each axis using inter-amplifier communication and compensating the torque from the difference from the speed of the own axis. There is an effect that can be improved.

Embodiment 3 FIG.
FIG. 8 is a flowchart showing a control method of the multi-axis synchronization system of the third embodiment. The apparatus configuration of the present embodiment is the same as that of the first embodiment shown in FIG. In this embodiment, a torque compensation value is obtained by applying a correction gain to the difference between the average position deviation of the system and the position deviation of the own axis. In FIG. 8, the servo amplifiers 50A, 50B, 50C, and 50D for both the master axis and the slave axis periodically acquire position feedback information from the detectors 52A, 52B, 52C, and 52D at the same timing. A position deviation is calculated from the position command and position feedback (steps S51 and S61). Thereafter, the slave axis sets the position deviation data in the transmission section of the inter-amplifier communication at the time when the inter-amplifier communication is transmitted, and transmits the position deviation data to the master axis (position deviation data transmission step: step S62).

  The master axis acquires the position deviation of all axes at the reception timing of the inter-amplifier communication (step S52), and the master axis control unit 20A as the average position deviation calculating unit averages the position deviations of all axes. A system average position deviation is calculated (average position deviation calculating step: step S53). The calculated system average position deviation is transmitted to each slave axis at the transmission timing of communication between the amplifiers of the master axis (step S54).

  After all the slave axes have received the system average position deviation (step S63), at the same timing, the servo amplifiers 50A, 50B, 50C, and 50D for the master axis and slave axis have the system average position deviation and the position deviation of their own axes. Is multiplied by a correction gain to calculate a torque compensation value (torque compensation value calculation step: steps S55 and S64) and set in the torque correction unit. After that, by performing torque correction at the same timing, the disturbance torque that is the cause of the error between the axes is corrected (steps S56 and S65).

  In the first to third embodiments, the first to fourth motors 51A, 51B, 51C, and 51D are rotary servo motors. However, it is obvious that a similar control method and system can be configured.

  In this way, synchronization between multiple axis synchronization systems can also be achieved by calculating the average position deviation of the system from the position deviation of each axis using the inter-amplifier communication and compensating the torque from the difference in position deviation of the own axis. There is an effect that the accuracy can be improved.

  The multi-axis synchronization system and the control method thereof according to the present invention are preferably applied to a multi-axis synchronization system employed in a servo press device, an injection molding machine, or the like.

1 is a block diagram illustrating a multi-axis synchronization system according to a first embodiment. It is a timing chart which shows a position command being transmitted with respect to a servo amplifier from a controller with a fixed period. It is a timing chart of communication between amplifiers. It is a block diagram for demonstrating operation | movement of the torque correction of a control part. It is a system detail figure explaining the mode of the movement of the data of torque correction control. It is a flowchart which shows the procedure of the control method of a multi-axis synchronous system. 6 is a flowchart illustrating a procedure of a control method of the multi-axis synchronization system according to the second embodiment. 10 is a flowchart illustrating a procedure of a control method of the multi-axis synchronization system according to the third embodiment. It is a perspective view which shows the drive system of a multi-axis synchronous system.

Explanation of symbols

10A, 10B, 10C, 10D Controller communication unit 20A, 20B, 20C, 20D Control unit 21 Reference model control unit 22 Position control unit 23 Speed control unit 24 Model torque calculation unit 25 Torque correction unit 30A, 30B, 30C, 30D Between amplifiers Communication transceiver 50A, 50B, 50C, 50D Servo amplifier 51A, 51B, 51C, 51D Servo motor 52A, 52B, 52C, 52D Detector 60 Host controller 70 Table 80A, 80B, 80C, 80D Ball screw

Claims (11)

In a multi-axis synchronization system that drives while synchronizing multiple servo axes,
An average acceleration calculation unit for obtaining an average acceleration from velocity data of all axes measured at the same timing;
Provided on each axis, connected to the average acceleration calculation unit via an amplifier-to-amplifier communication line, and outputs the velocity data of its own axis to the average acceleration calculation unit and inputs the average acceleration from the average acceleration calculation unit And a control unit that obtains a difference value between the average acceleration and the acceleration of the own axis and calculates a torque compensation value based on the difference value. In a multi-axis synchronization system that drives while synchronizing multiple servo axes,
An average speed calculator that calculates the average speed from the speed data of all axes measured at the same timing;
Provided on each axis, connected to the average speed calculation unit and the communication line between amplifiers, and outputs the speed data of the own axis to the average speed calculation unit and inputs the average speed from the average speed calculation unit And a control unit that obtains a difference value between the average speed and the speed of the own axis and calculates a torque compensation value based on the difference value. In a multi-axis synchronization system that drives while synchronizing multiple servo axes,
An average position deviation calculation unit for obtaining an average position deviation from the position deviation data of all axes measured at the same timing;
Provided on each axis, connected to the average position deviation calculation unit via an amplifier-to-amplifier communication line, and outputs the position deviation data of its own axis to the average position deviation calculation unit and from the average position deviation calculation unit to the A plurality of axes, comprising: a controller that inputs an average position deviation, obtains a difference value between the average position deviation and the position deviation of the own axis, and calculates a torque compensation value based on the difference value. Synchronous system. The multi-axis synchronization system according to claim 1, wherein the control unit calculates the torque compensation value based on a value obtained by multiplying the difference value by inertia. The multi-axis synchronization system according to claim 2 or 3, wherein the control unit calculates the torque compensation value based on a value obtained by multiplying the difference value by a correction gain. The multi-axis synchronization system according to claim 1, wherein the average acceleration calculation unit is provided on a master axis. In a control method of a multi-axis synchronization system that drives while synchronizing a plurality of servo axes,
A speed data transmission step that is performed in each axis, measures the speed data of all axes at the same timing, and transmits it to the average acceleration calculation unit via the amplifier-to-amplifier communication line;
The average acceleration calculating unit calculates an average acceleration from the velocity data of all axes, and transmits the average acceleration to each axis; and
A torque compensation value that is performed in each axis, receives the average acceleration from the average acceleration calculation unit, calculates a difference value between the average acceleration and the acceleration of the own axis, and calculates a torque compensation value based on the difference value A control method for a multi-axis synchronization system, comprising: a calculation step. In a control method of a multi-axis synchronization system that drives while synchronizing a plurality of servo axes,
A speed data transmission step that is performed in each axis, measures the speed data of all axes at the same timing, and transmits to the average speed calculation unit via the amplifier-to-amplifier communication line;
The average speed calculation unit obtains an average speed from the speed data of all the axes, and transmits the average speed to each axis; and
A torque compensation value that is performed in each axis, receives the average speed from the average speed calculation unit, obtains a difference value between the average speed and the speed of the own axis, and calculates a torque compensation value based on the difference value A control method for a multi-axis synchronization system, comprising: a calculation step. In a control method of a multi-axis synchronization system that drives while synchronizing a plurality of servo axes,
A position deviation data transmission step that is performed in each axis, measures the position deviation data of all axes at the same timing, and transmits it to the average position deviation calculator via the amplifier-to-amplifier communication line;
The average position deviation calculation unit obtains an average position deviation from the position deviation data of all the axes, and transmits the average position deviation to each axis; and
It is performed on each axis, receives the average position deviation from the average position deviation calculation unit, obtains a difference value between the average position deviation and the speed of the own axis, and calculates a torque compensation value based on the difference value. A method for controlling a multi-axis synchronization system, comprising: a torque compensation value calculation step. The control method for a multi-axis synchronous system according to claim 7, wherein, in the torque compensation value calculating step, the torque compensation value is calculated based on a value obtained by multiplying the difference value by inertia. The multi-axis synchronous system according to claim 8 or 9, wherein, in the torque compensation value calculation step, the torque compensation value is calculated based on a value obtained by multiplying the difference value by a correction gain. Control method.

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