JP4188499B2 - Synchronous control device for shaftless rotary press - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a synchronous control device for a shaftless rotary press, such as a shaftless newspaper rotary press, in which the phases (angles) of a plurality of mechanical shafts that are rotationally driven by a plurality of motors are maintained in a fixed relationship. It is useful when applied to a case where a plurality of motors are electrically controlled synchronously.
[0002]
[Prior art]
Newspapers are in the form of products only after they have been printed on a plurality of papers by a plurality of printing machines and then cut. At the time of cutting, the head of each printed page must be aligned. For this reason, in a conventional newspaper rotary press, the pages are synchronized by connecting the printing presses with a mechanical shaft.
[0003]
On the other hand, in recent years, a shaftless rotary press that synchronizes between pages not by a mechanical shaft but by electric control is adopted to reduce the weight of the rotary press. Further, in a shaftless 4Hi rotary press capable of four-sided printing on both sides, synchronization when performing four-color printing on one page is also performed by electric control.
[0004]
[Problems to be solved by the invention]
In order to synchronize and control a plurality of printing presses, it is necessary to know the position (angle) of the mechanical axis of each printing press. Therefore, in order to detect the position of this machine axis with high accuracy and without delay, an incremental rotary encoder is attached to the machine axis, and the current position of the machine axis is detected by counting pulses output from this rotary encoder. The method is used.
[0005]
Although the incremental rotary encoder cannot know the absolute position of the machine shaft, it is the origin that detects the detected part provided at one place in the circumferential direction of the machine shaft by spinning the printing press before starting the printing operation. If the origin of the mechanical axis is detected by the proximity switch detection signal or the Z-phase pulse output from the rotary encoder, the subsequent pulses (A-phase and B-phase) output from the rotary encoder are counted to It is easy to know the position (angle).
[0006]
Then, after the printing press is idled and the origin of the mechanical axis is detected, the mechanical axis is rotated to an appropriate position (referred to as a register position) and waited. The register position is determined for each printing press according to the arrangement of each printing press and the length of the paper path course. The operation from when the printing press is idle until it waits at the register position is called origin adjustment.
[0007]
Since the origin must be aligned before the linked operation, it is necessary to stop the printing machine every time the plate is changed. In other words, in order to replace any printing press plate during linked operation, only that printing press must be able to get out of linked operation or participate in linked operation from the middle. In the system, it is impossible to participate in linked operation from the middle because the origin must be adjusted before linked operation. In summary, there are the following two problems in the current technology.
[0008]
(1) The origin must be adjusted before linked operation.
(2) The printing press cannot participate in the linked operation of other printing presses from the middle.
[0009]
Accordingly, the present invention is to overcome the above-described problems, a printer, and to provide a synchronous control device of shaftless rotary press capable of participating in the middle in the linked operations of the other printing machine.
[0010]
[Means for Solving the Problems]
A synchronous control device for a shaftless rotary press of the present invention that solves the above-described problems is provided by a plurality of printing presses (1, 2, 3) of a shaftless rotary press that is rotationally driven by a plurality of motors (10, 11, 12) . A plurality of rotary encoders (26, 27, 28) for outputting detection pulses according to the rotation of the first mechanical shaft (16, 17, 18) ;
Means for outputting a reference pulse corresponding to the rotation of the actual or virtual second mechanical axis serving as a reference;
A deviation count value that is a difference between the detection pulse and the reference pulse is obtained, and a correction speed command according to the deviation count value is added to a predetermined speed command to obtain a correction speed command. In a synchronous control device for a shaftless rotary press that controls the speed of each of the motors (10, 11, 12) ,
When the printing press (1) of the plurality of printing presses is pulled in synchronously and joined to the linked operation of the other printing presses (2, 3) from the middle,
The detection pulse corresponding to the rotation of the first machine shaft (16) of the printing press (1) that participates in the linked operation from the middle is counted, and this count value is set to the origin of the first machine shaft (16) . It is cleared to zero each time it is detected, and the detection side position of the first mechanical axis (16) is obtained by looking at the count value when the origin of the second mechanical axis is detected, and this detection side position is set as the register position. Correct the deviation count value to
Alternatively , the first machine axis ( 1) of the printing press (1) that counts the reference pulse and clears the count value to zero every time the origin of the second machine axis is detected, and participates in the linked operation halfway. A reference side position is obtained by looking at the count value when the origin of 16) is detected, and the deviation count value is corrected so that the reference side position is a position corresponding to the register position. Features.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
[0012]
FIG. 1 is a block diagram showing the configuration of the embodiment of the present invention, FIG. 2 is a block diagram showing the configuration of the positioning controller shown in FIG. 1, and FIGS. 3 and 4 are operation explanatory views of the positioning controller.
[0013]
As shown in FIG. 1, a plurality of positioning controllers 4, 5, and 6 are provided for a plurality of printing presses 1, 2, and 3 of the shaftless rotary press, respectively. The speed command V is output from the general controller 25.
[0014]
In positioning controller 4,5,6, reference pulse P _K, the reference origin pulse P _KO, on the basis of the detection pulse P _D and the detection origin pulse P _DO, corrected velocity command to correct the speed command V to perform a synchronous phase control V _S is obtained, and this corrected speed command V _S is output to the servo drivers 7, 8, and 9 (details will be described later).
[0015]
The servo driver 7,8,9, determine the rotational speed of the servo motor 10, 11, 12 from the detection pulse P _D, to control the motor current I _M, as the motor rotational speed is corrected speed command V _S. The motors 10, 11, and 12 are cylinders (printing) of the printing presses 1, 2, and 3 through the reduction gears 13, 14, and 15 and the mechanical shafts 16, 17, and 18 having a gear ratio of 1 to 3 to 1/4. 1a, 2a and 3a are respectively rotated.
[0016]
The machine shafts 16, 17, 18 of the cylinders 1a, 2a, 3a are provided with detected parts 19, 20, 21 at one place in the circumferential direction in order to define their respective origins (one point in the circumferential direction). . On the other hand, origin proximity switches 22, 23, 24 are provided in the vicinity of the mechanical shafts 16, 17, 18. These origin proximity switches 22, 23, 24 detect the detected origin pulse each time the detected parts 19, 20, 21 rotate once together with the mechanical shafts 16, 17, 18 and face the origin proximity switches 22, 23, 24. and it outputs the P _DO to the positioning controller 4, 5 and 6.
[0017]
In addition, incremental rotary encoders 26, 27, and 28 are directly connected to the rotation shafts of the motors 4, 5, and 6, respectively. From these rotary encoders 26, 27, 28, detection pulses P _D (A phase pulse P _DA , B phase pulse P _DB) corresponding to the rotation of the motors 4, 5, 6 and the rotation of the mechanical shafts 1b, 2b, 3b are detected. , Z-phase pulse P _DZ ) is output to positioning controllers 4, 5, 6 and servo drivers 7, 8, 9.
[0018]
Since reduction gears 13, 14, and 15 are interposed between the motors 4, 5, and 6 and the mechanical shafts 16, 17, and 18, the gear ratio of the reduction gears 13, 14, and 15 (for example, 1 / 4), the time interval at which the detected origin pulse P _DO is output from the origin proximity switches 22, 23, 24 is the time interval at which the Z-phase pulse P _DZ is output from the rotary encoders 26, 27, 28. (See FIG. 3).
[0019]
On the other hand, the reference pulse P _K input to the positioning controllers 4, 5 and 6 is a reference servo motor (not shown) of the machine (for example, when the folding machine is controlled at a constant speed). The detection pulses (A-phase pulse P _KA , B-phase pulse P _KB , Z-phase pulse P _KZ ) output from the incremental rotary encoder provided in the servo motor). The reference origin pulse P _KO is a detected origin pulse output from an origin proximity switch that detects the origin of a machine axis (not shown) serving as a reference. Alternatively, the overall controller 25 or the like is provided with a pulse oscillator, from which a pulse corresponding to the reference pulse P _K (A phase pulse P _KA , B phase pulse P _KB , Z phase pulse P _KZ ) or reference origin pulse P _KO. May be output. In the former case, the reference side machine axis is an actual machine axis such as a folding machine, and in the latter case, the reference side machine axis is a virtual machine axis by a pulse oscillator.
[0020]
Here, the positioning controllers 4, 5, and 6 will be described in detail. Since the positioning controllers 4, 5, and 6 have the same configuration, the positioning controller 4 will be described as an example here with reference to FIG.
[0021]
As shown in FIG. 2, the positioning controller 4 includes an adding unit 31, multiplying units 32 and 33, counters 34 and 35, a deviation counter 36, an error correcting unit 37, a digit number converting unit 38, a PI calculating unit 39, and an error detecting unit. 40, 41 and position storage units 42, 43.
[0022]
The reference pulse P _K (A-phase pulse P _KA , B-phase pulse P _KB ) and detection pulse P _D (A-phase pulse P _DA , B-phase pulse P _DB ) input to the positioning controller 4 are multiplied by the multipliers 32 and 33. After being multiplied, they are input to the deviation counter 36 and the counters 34 and 35. The multipliers 32 and 33 multiply two signals having a phase difference of 90 degrees by four in order to improve control accuracy.
[0023]
In deviation counter 36 is an up-down counter, by reference pulse P _K and the detection pulse P up-down counting _D, a deviation count value C is the difference between the reference pulse P _K and the detection pulse P _D, The deviation count value C is output to the error correction unit 37.
[0024]
The deviation count value C is obtained when the phase (angle) of the actual or virtual machine axis on the reference side and the machine axis 16 on the detection side is held in a certain relationship, that is, the machine axis 16 on the detection side is If it is held at the register position, it becomes zero. However, when a phase (angle) between the reference-side mechanical axis and the detection-side mechanical shaft 16 is shifted, a value corresponding to the phase shift is obtained. Therefore, on the basis of the deviation count value C, and corrects the speed command V seek corrected speed command V _S by an adder 31, the speed adjustment of the motor 10, 11, 12 on the basis of this corrected speed command V _S (acceleration or By performing (deceleration), the phase shift can be corrected.
[0025]
Further, the error correction unit 37 uses the deviation count value C input from the deviation counter 36 as the reference count error value C _KG and the detection count error value C _DG input from the error detection units 40 and 41, or the position storage unit 42, corrected based on the detection-side position C _a and the reference side position C _B input from 43, and outputs the correction deviation count value C _H to the digit number converter 38.
[0026]
In the digit number converter 38, the digit number conversion on the corrected deviation count value C _H input from the error correction unit 37 outputs the correction deviation count value C _HH after the digits converted to PI calculation unit 39. Since the output value from the error correction unit 37 has a large number of digits, the digit number conversion unit 38 reduces the digit length so that the PI calculation unit 39 can easily perform the PI calculation.
[0027]
The PI calculation unit 39 calculates the correction speed V _H by PI (proportional integration) calculation of the correction deviation count value C _HH input from the digit number conversion unit 38, and outputs the correction speed V _H to the addition unit 31.
[0028]
The addition section 31, by adding the correction velocity V _H input from the PI operation section 39 to the speed command V (addition or subtraction to) seek corrected speed command V _S, the servo driver 7 this corrected speed command V _S (FIG. 1).
[0029]
On the other hand, the counters 34 and 35 are simply counters that continue to count input pulses. The counter 34 continues to count the reference pulse P _K (A-phase pulse P _KA , B-phase pulse P _KB ), and this count value is set as an error. The counter 35 outputs the detection pulse P _D (A phase pulse P _DA , B phase pulse P _DB ) and outputs the count value to the error detection unit 41 and the position storage. To the unit 43.
[0030]
In the error detection unit 40, every time the reference pulse P _K (Z-phase pulse P _KZ ) is input for the first time after inputting the reference origin pulse P _KO , that is, every time the origin of the reference side mechanical axis is detected. The count value input from the counter 34 is cleared to zero to obtain a sawtooth waveform (see FIG. 3). In the error detection unit 40, the count value of the reference pulse P _K (A phase pulse P _KA , B phase pulse P _KB ) when the reference side rotary encoder or pulse oscillator is in a normal state, that is, the reference side mechanical axis The count value between the detection of the origin and the next detection of the same origin is stored in advance as a reference pulse specified value, and this reference pulse specified value and the count value are stored as the reference origin pulse P _KO . Each time the reference pulse P _K (Z-phase pulse P _KZ ) is input for the first time after input, a difference between the two is obtained, and the difference is output to the error correction unit 37 as a reference count error value C _KG .
[0031]
That is, when the reference-side rotary encoder or pulse oscillator is normal, the reference pulse specified value and the count value are equal, so the reference count error value C _KG is zero. When there is a defect such as a missing pulse, a difference occurs between the reference pulse specified value and the count value, and therefore the reference count error value C _KG is a positive or negative value corresponding to the defect.
[0032]
Therefore, if the error correction unit 37 corrects the deviation count value C based on the reference count error value C _KG , the influence (error component) of the above-described defect included in the deviation count value C at this time can be removed. it can.
[0033]
Similarly, the error detection unit 41 detects the origin of the mechanical shaft 16 on the detection side every time the detection pulse P _D (Z-phase pulse P _DZ ) is inputted for the first time after the detection origin pulse P _DO is inputted. Each time the count value input from the counter 35 is cleared to zero, a sawtooth waveform is obtained (see FIG. 3). Then, the error detector 41, the count value of the rotary encoder 26 detection in the normal state (see FIG. 1) pulse P _D (A-phase pulse P _DA, B-phase pulse P _DB), i.e., the detection-side machine axis 16 The count value between the detection of the origin and the next detection of the origin is stored in advance as a detection pulse specified value, and this detection pulse specified value and the count value are stored as the detection origin pulse P _DO Each time a detection pulse P _D (Z-phase pulse P _DZ ) is input for the first time, a difference between the two is obtained, and this difference is output to the error correction unit 37 as a detection count error value _CDG .
[0034]
That is, when the rotary encoder 26 is normal, the detection pulse specified value is equal to the count value, and thus the detection count error value _CDG is zero. In some cases, a difference occurs between the detection pulse specified value and the count value, so that the detection count error value _CDG is a positive or negative value corresponding to the above-described problem.
[0035]
Therefore, if the error correction unit 37 corrects the deviation count value C based on the detected count error value _CDG , the influence (error component) of the defect included in the deviation count value C at this time can be removed. it can.
[0036]
Further, the positioning controller 4 includes position storage units 42 and 43 so that the printing press 1 can participate in the linked operation of the other printing presses 2 and 3 from the middle.
[0037]
These position storage units 42 and 43 store the actual or virtual machine axis position on the reference side and the position of the machine axis 16 on the detection side. In other words, when the origin of each machine axis passes a predetermined position (position where the proximity proximity switch is provided), each other, that is, the reference side sees the count value on the detection side, and the detection side sees the count value on the reference side. If you go, you can know the position of the opponent, and if you know the position of the opponent, you can pull in the synchronization.
[0038]
Therefore, as illustrated in FIG. 3, in the position storage unit 43, every time the detection pulse P _D (Z-phase pulse P _DZ ) is first input after the detection origin pulse P _DO is input, that is, the detection side machine Each time the origin of the shaft 16 is detected, the count value input from the counter 35 is cleared to zero to obtain a sawtooth waveform. In the position storage unit 43, when the reference pulse P _K (Z-phase pulse P _KZ ) is first input after inputting the reference origin pulse P _KO , that is, when the origin of the reference side mechanical axis is detected. to look at the count value of the detected pulse P _D, and stores the count value C _a of this time, output to the error correcting unit 37 the count value as the detection-side position C _a.
[0039]
As a result, the detection-side position (count value) C _A, (predetermined count value representing the words register location) registers the position correction is performed so as to R _A, the printing press 1 is synchronous pull.
[0040]
That is, the error correcting unit 37 obtains a correction deviation count value C _H to correct the deviation count value C based on the detection side position C _A, the digit number converter 38, digits the correction deviation count value C _H conversion Then, the correction deviation count value C _HH is obtained, and the PI calculation unit 39 calculates the correction speed V _H by performing PI calculation on the correction deviation count value C _HH . Then, the adding unit 31 adds (subtracts or subtracts) the corrected speed V _H to the speed command V to obtain a corrected speed command V _S.
[0041]
Then, the rotational speed of the cylinder 1a (machine shaft 16) of the printing press 1 is accelerated or decelerated based on the corrected speed command V _S , and finally, as shown in FIG. When the origin is detected, the mechanical axis 16 on the detection side is at the register position _RA . Thus, the printing press 1 is pulled in synchronously.
[0042]
The position storage unit 42 detects the origin of the mechanical shaft 16 on the detection side every time the detection pulse P _D (Z-phase pulse P _DZ ) is first input after the detection origin pulse P _DO is input. Every time, the count value input from the counter 34 is cleared to zero to obtain a sawtooth waveform. In the position storage unit 42, when the detection pulse P _D (Z-phase pulse P _DZ ) is first input after the detection origin pulse P _DO is input, that is, when the origin of the mechanical shaft 16 on the detection side is detected. Then, the count value of the reference pulse P _K is seen and the count value at this time is output to the error correction unit 37 as the reference side position C _B.
[0043]
As a result, the reference side position (count value) C _B is corrected to a position corresponding to the register position (that is, a predetermined count value representing a position corresponding to the register position) R _B , and the printing press 1 is pulled in synchronously.
[0044]
That is, the error correcting unit 37 obtains a correction deviation count value C _H to correct the deviation count value C based on the reference side position C _B, the digit number converter 38, digits the correction deviation count value C _H conversion Then, the correction deviation count value C _HH is obtained, and the PI calculation unit 39 calculates the correction speed V _H by performing PI calculation on the correction deviation count value C _HH . Then, the adding unit 31 adds (subtracts or subtracts) the corrected speed V _H to the speed command V to obtain a corrected speed command V _S.
[0045]
Then, the rotational speed of the cylinder 1a (machine shaft 16) of the printing press 1 is accelerated or decelerated based on the corrected speed command V _S , and finally, as shown in FIG. when the origin is detected, the machine axis of the reference side becomes a position R _B corresponding to the register position. Of course, at this time, the position of the mechanical axis 16 on the detection side when the origin of the mechanical axis on the reference side is detected is the register position _RA . Thus, the printing press 1 is pulled in synchronously.
[0046]
In the above description, the synchronous pull-in control is performed using both of the position storage units 42 and 43. However, the present invention is not limited to this, and only one of the position storage units 42 and 43 is used. The synchronization pull-in control may be performed using
[0047]
In the above description, the synchronous pull-in of the printing press 1 has been described. Of course, the synchronous pull-in of the printing presses 2 and 3 can be performed in the same manner as in the printing press 1.
[0048]
As described above, according to the synchronous control device of this embodiment, by counting the detection pulses P _D, and is cleared to zero the count value each time it detects the origin of the detection side of the machine axis 16, 17 or 18 together with the count value determine the detection-side position C _a watches, corrects the deviation count value C to the detection-side position C _a in the register locations R _a when the origin of the mechanical axis of the reference side is detected To
Alternatively, when the reference pulse P _K is counted and this count value is cleared to zero each time the origin of the reference side mechanical axis is detected, the origin of the detection side mechanical axis 16, 17 or 18 is detected. It obtains the reference side position C _B watches the count value, by correcting the deviation count value C so as to position R _B corresponding to the reference side position C _B into a register position, press 1, 2, 3 Can be synchronized.
[0049]
For this reason, it is not necessary to perform origin adjustment before performing the linked operation of the printing presses 1, 2, and 3, and the printing presses 1, 2, and 3 can be operated efficiently. That is, it takes a preparation time of several tens of seconds to perform the origin adjustment before the start of printing, which is a disadvantage of the operation, but it is possible to eliminate the disadvantage and perform printing efficiently.
[0050]
In addition, any printing machine can participate in the linked operation of another printing machine from the middle. For example, even when the printing presses 2 and 3 are in linked operation, the printing press 1 can participate in the linked operation from the middle. Each newspaper company puts emphasis on the local version for reader service, and the local version is subdivided and printed only in thousands. For this reason, if the operation of the printing press is stopped every time the plate is replaced, the operating rate does not increase.
[0051]
On the other hand, in the present embodiment, only one printing machine can get out of the linked operation during the linked operation or participate in the linked operation of another printing machine in the middle. An effect is obtained.
[0052]
(1) The next plate can be mounted while the previous plate is being printed.
{Circle around (2)} The time required for stopping the printing press → printing → restarting the printing press and waste paper can be saved.
[0053]
If the synchronous control device already has a function for detecting the count error of the detection pulse or the reference pulse, a function for storing and correcting the mutual angle (position) at the moment of passing the origin may be added. It is easy to realize the synchronous control device of the present invention.
[0054]
【The invention's effect】
As described above in detail with the embodiment of the invention, according to the synchronous control device of the present invention, a plurality of printing presses of a shaftless rotary press driven by a plurality of motors (10, 11, 12) . A plurality of rotary encoders (26, 27, 28) for outputting detection pulses corresponding to the rotation of the first mechanical shaft (16, 17, 18) of ( 1, 2, 3), and a reference actual or virtual Means for outputting a reference pulse corresponding to the rotation of the second mechanical axis, and obtaining a deviation count value which is a difference between the detection pulse and the reference pulse, and a correction speed corresponding to the deviation count value is predetermined. In a synchronous control device for a shaftless rotary press that obtains a corrected speed command in addition to the speed command and controls the speeds of the motors (10, 11, 12) based on the corrected speed command,
When the printing press (1) of the plurality of printing presses is pulled in synchronously and joined to the linked operation of the other printing presses (2, 3) from the middle,
The detection pulse corresponding to the rotation of the first machine shaft (16) of the printing press (1) that participates in the linked operation from the middle is counted, and this count value is set to the origin of the first machine shaft (16) . It is cleared to zero each time it is detected, and the detection side position of the first mechanical axis (16) is obtained by looking at the count value when the origin of the second mechanical axis is detected, and this detection side position is set as the register position. Correct the deviation count value to
Alternatively , the first machine axis ( 1) of the printing press (1) that counts the reference pulse and clears the count value to zero every time the origin of the second machine axis is detected, and participates in the linked operation halfway. The reference position is obtained by looking at the count value when the origin of 16) is detected, and the deviation count value is corrected so that the reference position is a position corresponding to the register position. A plurality of printing presses can be pulled in synchronously.
[0055]
For this reason, it is not necessary to perform origin adjustment before performing linked operation of multiple printing presses . Also, only one printing press exits linked operation during linked operation, or linked operation of other printing presses from the middle. You can participate in. Therefore, a plurality of printing presses can be operated efficiently.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of an embodiment of the present invention.
FIG. 2 is a block diagram showing a configuration of a positioning controller shown in FIG.
FIG. 3 is an operation explanatory diagram of the positioning controller.
FIG. 4 is an operation explanatory diagram of the positioning controller.
[Explanation of symbols]
1, 2, 3 Printing machine 1a, 2a, 3a Cylinder 4, 5, 6 Positioning controller 7, 8, 9 Servo driver 10, 11, 12 Servo motor 13, 14, 15 Reduction gear 16, 17, 18 Machine shaft 19, 20, 21 Detected parts 22, 23, 24 Origin proximity switch 25 Overall controller 25, 26, 27 Rotary encoder 31 Adder 32, 33 Multiplier 34, 35 Counter 36 Deviation counter 37 Error correction part 38 Digit conversion part 39 PI Calculation units 40 and 41 Error detection units 42 and 43 Position storage unit

Claims (1)

Detection pulse corresponding to rotation of first mechanical shafts (16, 17, 18) of a plurality of printing presses (1, 2, 3) of a shaftless rotary press driven by a plurality of motors (10, 11, 12) . A plurality of rotary encoders (26, 27, 28) for outputting
Means for outputting a reference pulse corresponding to the rotation of the actual or virtual second mechanical axis serving as a reference;
A deviation count value that is a difference between the detection pulse and the reference pulse is obtained, and a correction speed command corresponding to the deviation count value is added to a predetermined speed command to obtain a correction speed command. In a synchronous control device for a shaftless rotary press that controls the speed of each of the motors (10, 11, 12) ,
When the printing press (1) of the plurality of printing presses is pulled in synchronously to participate in the linked operation of the other printing presses (2, 3) from the middle,
The detection pulse corresponding to the rotation of the first machine shaft (16) of the printing press (1) that participates in the interlocking operation from the middle is counted, and this count value is used as the origin of the first machine shaft (16) . Each time it is detected, it is cleared to zero, and the detection side position of the first mechanical axis (16) is obtained by looking at the count value when the origin of the second mechanical axis is detected, and this detection side position is set as the register position. Correct the deviation count value to
Alternatively , the first machine axis ( 1) of the printing machine (1) that counts the reference pulse and clears the count value to zero every time the origin of the second machine axis is detected and participates in the linked operation from the middle ( A reference side position is obtained by looking at the count value when the origin of 16) is detected, and the deviation count value is corrected so that the reference side position is a position corresponding to the register position. Synchronous control device for a shaftless rotary press .

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