JPH0723583A - Synchronous operation system for pulse train input motor - Google Patents

Abstract

PURPOSE:To allow automatic establishment of synchronized state by eliminating the work for matching the original point prior to start of synchronous operation. CONSTITUTION:When a motor is started without matching the original point, a command pulse train signal is delivered from an asynchronous signal frequency divider 31 to a slave servo amplifier 22. When a second original point match detector 51 detects the moment of time when the original point of a master conveyor 10 matched that of a slave conveyor 20 and Z signal of a master conveyor pulse encoder 15 matches that of a slave pulse encoder 23 during operation, a frequency division signal selector 32 switches the command signal to the slave servo amplifier 22 from an asynchronous signal frequency divider 31 to a synchronous signal frequency divider 3 thus operating the motor automatically in synchronized state.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a synchronous operation device for a pulse train input electric motor, which receives a pulse train signal and operates in synchronization with a plurality of electric motors.

[0002]

2. Description of the Related Art FIG. 6 is a circuit diagram showing a conventional example in which a pulse train signal is input and a plurality of electric motors are operated in synchronization. In the conventional example circuit of FIG. 6, the main motor 11 drives the main conveyor 10 as the main load, and the slave motor 21 drives the slave conveyor 20 as the slave load. Here, the main conveyor 10 is provided with partitions divided into predetermined lengths, and the slave conveyor 20 is also provided with similar partitions. Loads placed on each partition of the main conveyor 10 to the sub-conveyor 2
In order to move to a predetermined partition of 0, both the conveyors are started in a state where the partition position of the main conveyor 10 and the partition position of the slave conveyor 20 are aligned, and the traveling speed and the slave speed of the main conveyor 10 during operation are compared. The ratio of the traveling speed of the conveyor 20 to the traveling speed of the conveyors 20 should be a value that allows the two conveyors to maintain a synchronized state, and this value must be constantly maintained.

Therefore, the main servo amplifier 1 connected to the power supply 2
2 receives the command pulse train signal output from the command pulse train generator 16 and operates the main motor 11 at a speed corresponding to the frequency of the command pulse train signal. The main pulse encoder 13 coupled to the main motor 11 outputs a pulse train signal having a frequency corresponding to the rotation speed of the main motor 11 to the main servo amplifier 1.
Since it is fed back to 2, the rotation speed of the main electric motor 11, that is, the traveling speed of the main conveyor 10 can be maintained at a desired value by comparing the fed back pulse train signal with the above-mentioned command pulse train signal.

A main conveyor pulse encoder 15 is coupled to the main conveyor 10 described above. The pulse train signal output from the main conveyor pulse encoder 15 is frequency-divided by the sync signal frequency divider 3 at a predetermined ratio and then the sub-signal is transmitted. It is given to the servo amplifier 22 as a command signal. That is, the slave servo amplifier 22 connected to the power supply 2 operates the slave motor 21 at a speed corresponding to the frequency of the pulse train signal output from the synchronization signal frequency divider 3. This slave motor 21 also has a slave pulse encoder 2
3 is coupled to feed back a pulse train signal having a frequency corresponding to the rotation speed of the slave motor 21 to the slave servo amplifier 22, the fed back pulse train signal and the command pulse train signal (that is, the synchronization signal divider 3).
The pulse speed signal outputted by the slave motor 21 is compared to the rotation speed of the slave motor 21, that is, the traveling speed of the slave conveyor 20 to maintain the above-mentioned value.

Here, the synchronizing signal frequency divider 3 divides the pulse train signal input from the main conveyor pulse encoder 15 according to a predetermined ratio, which means that the main conveyor 10 and the slave conveyor 20 are in a synchronous state. It is the ratio of both traveling speeds for driving. By dividing at a predetermined ratio in this way, both conveyors are operated in a synchronized state, and it is possible to accurately transfer the load placed on a predetermined partition of the main conveyor 10 to a desired partition of the slave conveyor 20. become.

[0006]

In order to realize the above-mentioned synchronous operation, the partition of the main conveyor 10 is set to a reference position, that is, the origin position, and the partition of the slave conveyor 20 is also the reference origin. It is necessary to set them at the positions, and if there is a deviation between the set positions of the two, it is not possible to transfer the load accurately. Therefore, before starting the synchronous operation, it is necessary to first perform the operation of matching the origin positions.

The operation of aligning the origin position is performed in the following procedure. (1) Using the command pulse train generator 16 or a separate pulse train generator (not shown), the pulse train signal output from the command pulse train generator 16 is supplied to the main servo amplifier 12 to drive the main motor 11
The main limit switch 14 to rotate the main conveyor 10
The time point when the partition is detected is the origin position of the main conveyor 10, and it is stopped at this point. (2) A pulse train signal from a separate pulse train generator (not shown) is used as the slave servo amplifier 22.
To the origin position of the slave conveyor 20 when the slave limit switch 24 detects the partition of the slave conveyor 20, and the slave motor 21 is stopped at this point. (3) The command pulse train generator 16 is connected to the main servo amplifier 12, and the synchronizing signal frequency divider 3 is connected to the slave servo amplifier 22. (4) The main motor 11 and the slave motor 21 are operated in a synchronized state.

In the conventional circuit shown in FIG. 6, the origin position of each load is first matched by the operations of (1) and (2) before starting the synchronous operation, but this alignment is complicated. This requires a separate preparation work and a separate pulse train signal generating means, and there is a disadvantage that the above-described operation must be performed each time the device is operated. Therefore, an object of the present invention is to omit the home position alignment work performed prior to the start of the synchronous operation and to automatically achieve the synchronous state.

[0009]

In order to achieve the above object, a synchronous operation device for a pulse train input motor according to the present invention comprises:
Main servo amplifier means for controlling the speed of the main motor so as to match the frequency of the command pulse train signal, a load pulse encoder coupled to the main load driven by the main motor, and main position detection for detecting the origin position of this main load. Means for inputting a pulse train signal from the load pulse encoder and outputting a pulse train signal having a frequency for operating a sub load described later in synchronization with the main load; Asynchronous signal dividing means for inputting a pulse train signal and outputting a pulse train signal having a frequency different from the output pulse train signal of the synchronizing signal dividing means, and an output signal of these synchronizing signal dividing means or an asynchronous signal dividing means Frequency division signal selecting means for selecting any one of the output signals and the pulse train signal selected by the frequency division signal selecting means and inputting the frequency to that frequency. A slave servo amplifying means for controlling the speed of the slave motor, a slave position detecting means for detecting the origin position of the slave load driven by the slave motor, and a slave position detecting means and a main position detecting means. The first origin coincidence detecting means for detecting the simultaneous operation and the frequency division signal selecting means instructing the selection of the output signal of the asynchronous signal frequency dividing means at the time of starting the operation, the first origin coincidence detecting means operates. At that time, the frequency division signal selection command means for giving a command for switching the output signal of the asynchronous signal frequency division means to the output signal of the synchronous signal frequency division means to the frequency division signal selection means.

Alternatively, in place of the first origin coincidence detecting means, means for detecting a Z signal output for each rotation of the slave position detecting means, the main position detecting means and the load pulse encoder, and the slave pulse encoder. The second origin coincidence detecting means for detecting that the means for detecting the Z signal output for each one rotation and the simultaneous operation are provided, and the frequency division signal selecting means outputs the asynchronous signal frequency dividing means at the start of the operation. A signal is selected, but when the second origin coincidence detecting means operates, a frequency division command is given to the frequency dividing signal selecting means to switch the output signal of the asynchronous signal frequency dividing means to the output signal of the synchronous signal frequency dividing means. And signal selection command means.

Alternatively, whichever of the first origin coincidence detecting means and the second origin coincidence detecting means is used in the above-mentioned pulse train input motor synchronous operation device, the main motor is the main servo amplifier means for inputting the command pulse train signal. Instead, it is assumed that the electric power conversion means for inputting the speed command value is used for operation.

[0012]

The pulse train signal output from the pulse motor connected to the main motor operating at a speed corresponding to the frequency of the command pulse train signal input to the main servo amplifying means, and the main motor or the main load driven by the main motor, Both are frequency-divided at a synchronization ratio that makes them operate in a synchronous state, and the frequency-divided pulse train signal is given as a command signal to the sub-servo amplifier to operate the sub-motor to enter the synchronous operation state. For this purpose, first, both the main motor or main load and the sub motor or sub load must be positioned at their respective origins. Therefore, the present invention, in addition to the means for dividing the output pulse train signal of the load pulse encoder by the synchronization ratio,
A means for frequency division at an asynchronous ratio different from the synchronous ratio is also provided, and the main motor and the slave electric motor are operated in a state in which the pulse train signal divided by the asynchronous ratio frequency dividing means is given as a command signal to the slave servo amplifying means. To start. Initially, there is a difference between the time when the main load reaches the origin position and the time when the slave load reaches the origin position, but there is a moment when the difference time gradually decreases and both of them reach the origin position at the same time. By switching the output pulse train signal of the asynchronous ratio dividing means, which was given as a command signal to the slave servo amplifying means, to the output pulse train signal of the synchronous ratio dividing means at this moment, the complicated operation of matching the origin positions is omitted. , The origin position can be automatically matched while driving.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a circuit diagram showing a first embodiment of the present invention, which corresponds to claim 1, but which includes a power supply 2 and a synchronization signal shown in the first embodiment circuit of FIG. Frequency divider 3, main conveyor 10 as main load, main motor 11, main servo amplifier 12, main pulse encoder 13, main limit switch 14 as main position detecting means, main conveyor pulse encoder 15 as load pulse encoder, command Pulse train generator 16, slave conveyor 20 as slave load, slave motor 21, slave servo amplifier 22, slave pulse encoder 23,
The name, application, and function of the slave limit switch 24 as the slave position detecting means are the same as those of the conventional example circuit described above with reference to FIG.

In the circuit of the first embodiment, the programmable controller 40 as a higher-order control means for giving various command signals to the main servo amplifier 12 and the slave servo amplifier 22.
Includes the first origin coincidence detector 41 and the frequency division signal selection commander 4
2 and. The frequency divider 30 that inputs the pulse train signal from the main conveyor pulse encoder 15 and outputs the divided pulse train signal is composed of a synchronous signal frequency divider 3 and an asynchronous signal frequency divider 31. The pulse train signal output from the frequency divider 30 is provided to the slave servo amplifier 22 via the frequency division signal selector 32.

In the first embodiment circuit, the main conveyor 10
The sub-conveyor 20 does not determine the origin position of the main motor 1
1 and the slave electric motor 21 are started, but at this time, the frequency division signal selector 32 selects the asynchronous signal frequency divider 31 and uses the output pulse train signal as a command signal for the slave servo amplifier 2
Input to 2. Since the asynchronous signal frequency divider 31 described above divides the frequency of the input pulse train signal into a ratio different from the synchronous ratio described above, the traveling speed of the slave conveyor 20 and the traveling speed of the main conveyor 10 are in a synchronized state. Does not mean Therefore, even if the starting point of the main conveyor 10 and the starting point of the sub-conveyor 20 are deviated from each other, the deviation time gradually decreases, and the moment when the detecting points of both origins coincide with each other. is there. First origin coincidence detector 4
1 detects the coincidence between the time when the main limit switch 14 operates, that is, the time when the main conveyor 10 reaches the origin, and the time when the slave limit switch 24 operates, that is, the time when the slave conveyor 20 reaches the origin, This coincidence detection signal is sent to the frequency division signal selection commander 42. In response to the coincidence detection signal, the frequency division signal selection commander 42 outputs the pulse train signal which has been sent from the asynchronous signal frequency divider 31 to the slave servo amplifier 22 until then to the pulse train signal output from the synchronization signal frequency divider 3. A switching signal is sent to the divided signal selector 32 to switch to. By this operation, from the time when the origin of the main conveyor 10 and the origin of the slave conveyor 20 coincide with each other, the speeds of both conveyors 10 and 20 are synchronized.

FIG. 2 is a circuit diagram showing a second embodiment of the present invention and corresponds to claim 2. The circuit of the second embodiment of FIG. 2 is a frequency divider 30 including a synchronous signal frequency divider 3 and an asynchronous signal frequency divider 31, and a command pulse train signal given from the frequency divider 30 to the slave servo amplifier 22. A frequency-divided signal selector 32 for selecting one of the output signal of the synchronous signal frequency divider 3 and the output signal of the asynchronous signal frequency divider 31;
The origin coincidence detector 41 and the programmable controller 40 including the frequency division signal selection commander 42 as constituent elements are provided, and the origin position of the main conveyor 10 and the origin position of the slave conveyor 20 are activated without being coincident with each other. Also, since the synchronous operation state is automatically set when the two origins coincide with each other during operation, as in the first embodiment circuit described above with reference to FIG. 1, description of these parts will be omitted. .

In the case of such a construction, instead of the main servo amplifier 12 supplying electric power to the main electric motor 11, for example, an inverter 61 as electric power converting means supplies electric power to control the main electric motor 11. It doesn't matter. When using the inverter 61, the main pulse encoder 13 for speed detection and the command pulse train generator 1 for speed command
Instead of 6, the speed detector 63 and the speed setter 64, which have a simple structure and are inexpensive, can be used. In this case, the adder 62 for calculating the deviation between the speed detection value and the speed command value
Will be added.

FIG. 3 is a circuit diagram showing a third embodiment of the present invention and corresponds to claim 3. The third embodiment circuit of FIG. 3 includes a Z signal detector 17 for detecting a Z signal output each time the main conveyor pulse encoder 15 makes one rotation, and a Z signal output every time the slave pulse encoder 23 makes one rotation. A Z signal detector 25 for detecting the second origin, and a second origin coincidence instead of the programmable controller 40 having the first origin coincidence detector 41 and the divided signal selection commander 42 as constituent elements. A programmable controller 50 having a detector 51 and a divided signal selection commander 42 as constituent elements is installed, which is different from the circuit of the first embodiment described in FIG. 1, but other than that. All Figure 1
Since it is the same as the circuit of the first embodiment described above, the description of the same parts will be omitted.

The main limit switch 14 for detecting the origin position of the main conveyor 10 and the slave limit switch 24 for detecting the origin position of the slave conveyor 20 have a higher degree of accuracy in detecting the position due to mechanical restrictions. Is difficult to do. Therefore, in this third embodiment circuit, in addition to the origin position detection signal of the main limit switch 14 and the origin position detection signal of the slave limit switch 24 described above, a Z signal is detected each time the main conveyor pulse encoder 15 makes one revolution. The output signal of the Z signal detector 17 and the output signal of the Z signal detector 25 that detects the Z signal every one rotation of the slave pulse encoder 23 are input to the second origin coincidence detector 51, and each of these When the time point when all the signals are output at the same time is detected, the detection signal is sent to the divided signal selection commander 42.
Since the frequency-divided signal selection commander 42 gives a switching signal to the frequency-divided signal selector 32, the output pulse train signal of the synchronizing signal frequency divider 3 is used as a command signal to the slave servo amplifier 22 as in the first embodiment circuit described above. give. Since the width of the Z signal output by the pulse encoder is narrower than the operating width of the limit switch, it is possible to detect with high accuracy the time when the origins of both conveyors 10 and 20 coincide.

FIG. 4 is a circuit diagram showing a fourth embodiment of the present invention and corresponds to claim 4. The fourth embodiment circuit of FIG. 4 has the same configuration as the third embodiment circuit described above with reference to FIG. 3 except for the portion that supplies power to the main motor 11, and the portion that supplies power to the main motor 11 does not. In the same way as the circuit of the second embodiment described above with reference to FIG.
1, adder 62, speed detector 63, and speed setter 64
Since it is composed of, the description of the circuit of the fourth embodiment will be omitted.

FIG. 5 is a time chart showing the operation of each part of the circuit of the first embodiment shown in FIG. 1. FIG. 5 shows changes in the operation signal of the main limit switch 14, and FIG. FIG. 5 shows changes in the operation signal, and FIG. 5 shows changes in the output signal of the divided signal selection commander 42. In the time chart of FIG. 5, when the operation of the main conveyor 10 and the slave conveyor 20 is started, there is a time lag between the operation signal of the main limit switch 14 and the operation signal of the slave limit switch 24. Two
Since the operation is asynchronous with 0, this deviation time is gradually shortened, and both limit switches operate simultaneously at time T ₁ . The first origin coincidence detector 41 detects this simultaneous operation time point, and the frequency division signal selection commander 42 outputs a switching command to the frequency division signal selector 32.

FIG. 6 is a time chart showing the operation of each part of the circuit of the third embodiment shown in FIG.
4 is a change in the operation signal of FIG. 4, FIG. 6 is a change in the Z signal of the main conveyor pulse encoder 15 output by the Z signal detector 17,
6 shows a change in the operation signal of the sub limit switch 24, FIG. 6 shows a change in the Z signal of the sub pulse encoder 23 output from the Z signal detector 25, and FIG. 6 shows a divided signal selection commander 42.
Each represents the change of the output signal of.

In the time chart of FIG. 6, the operation signal of the limit switch 14, the operation signal of the sub-limit switch 24, the Z signal of the main conveyor pulse encoder 15, and the sub-pulse encoder 23 at time T ₂ after the start of operation. Z
The signal matches. At this moment, the second origin coincidence detector 51
And the frequency division signal selection commander 42 operates the frequency division signal selector 3
A switching command is output to 2 to enter the synchronous operation state. As is clear from the time chart of FIG. 6, the width of the Z signal of both pulse encoders 15 and 23 is much narrower than the operating width of the limit switch, so the origin position of the main conveyor 10 and the origin of the slave conveyor 20 are set. It becomes possible to detect the point of coincidence with the position more precisely.

The frequency divider 30 used in the present invention.
Is composed of a synchronous signal frequency divider 3 and an asynchronous signal frequency divider 31 having different frequency division ratios, and which one is selected depends on the switching operation of the frequency division signal selector 32. The same effect can be obtained by using a frequency divider capable of changing the frequency and changing the frequency of the frequency divider output pulse train signal in response to the output signal of the frequency division signal selection commander 42. Of course.

[0025]

According to the present invention, the origin position of the main motor driven by the main servo amplifying means for inputting a pulse train signal or the main load driven by the main motor and the slave motor operating similarly by the slave servo amplifying means. Even if the origin position of the slave load driven by this slave motor is deviated, the rotation speed of the slave motor is started asynchronously with the rotation speed of the main motor, and the origin position of the main load and the slave load If the time when the origin position matches is detected, by changing the frequency of the command pulse train signal given to the slave motor servo amplifying means,
By switching both motors from the asynchronous operating state to the synchronous operating state, the synchronous state is automatically entered during operation. still,
When simultaneously detecting the origin position of the main load and the origin position of the slave load, the Z signal for each rotation of the main load pulse encoder and the Z signal for each rotation of the slave motor or the slave load pulse encoder are also included. If conditions for simultaneous detection are added, the point of origin coincidence can be detected more accurately. As a result, it is possible to eliminate the complicated operation of aligning the origin position, which is conventionally required, before starting, and it is possible to automatically achieve the synchronous operation state after starting the apparatus. Furthermore, it becomes possible to supply electric power to the main motor by an electric power conversion means such as an inverter, and accompanying this, it becomes possible to use inexpensive devices for the speed detection means and the speed setting means. It is also possible to obtain the effect of reducing the above.

[Brief description of drawings]

FIG. 1 is a circuit diagram showing a first embodiment of the present invention.

FIG. 2 is a circuit diagram showing a second embodiment of the present invention.

FIG. 3 is a circuit diagram showing a third embodiment of the present invention.

FIG. 4 is a circuit diagram showing a fourth embodiment of the present invention.

5 is a time chart showing the operation of each part of the circuit of the first embodiment shown in FIG.

FIG. 6 is a time chart showing the operation of each part of the circuit of the third embodiment shown in FIG.

FIG. 7 is a circuit diagram showing a conventional example in which a pulse train signal is input and a plurality of electric motors are operated in synchronization.

[Explanation of symbols]

2 power supply 3 synchronous signal frequency divider 4 programmable controller 10 main conveyor as main load 11 main motor 12 main servo amplifier 13 main pulse encoder 14 main limit switch 15 as main position detecting means main conveyor pulse encoder 16 command pulse train generator 17 , 25 Z signal detector 20 Slave conveyor as slave load 21 Slave motor 22 Slave servo amplifier 23 Slave pulse encoder 24 Slave limit switch as slave position detecting means 30 Frequency divider 31 Asynchronous signal frequency divider 32 Frequency divider signal selector 40, 50 programmable controller 41 first origin coincidence detector 42 frequency division signal selection commander 51 second origin coincidence detector 61 inverter as power conversion means 62 adder 63 speed detector 64 speed setter

Claims (4)

[Claims] 1. A main servo amplifier for controlling the speed of a main motor so as to match the frequency of a command pulse train signal, a load pulse encoder coupled to a main load driven by the main motor, and an origin position of this main load. Synchronous signal frequency dividing means for inputting a pulse train signal from the main position detecting means and the load pulse encoder, and outputting a pulse train signal having a frequency for operating a slave load described later in synchronization with the main load, Asynchronous signal frequency dividing means for inputting a pulse train signal from the load pulse encoder and outputting a pulse train signal of a frequency different from the output pulse train signal of the synchronizing signal frequency dividing means, and an output signal of these synchronizing signal frequency dividing means or The divided signal selecting means for selecting any of the output signals of the asynchronous signal dividing means and the pulse train signal selected by the divided signal selecting means are inputted. Slave servo amplifying means for controlling the speed of the slave motor so as to match the frequency of the slave motor, slave position detecting means for detecting the origin position of the slave load driven by the slave motor, the slave position detecting means and the master position detecting means. The first origin coincidence detection means for detecting that the means and the means simultaneously operate, and the frequency division signal selection means commands the selection of the asynchronous signal frequency division means output signal at the start of operation. Frequency division signal selection command means for giving to the frequency division signal selection means a command for switching the output signal of the asynchronous signal frequency division means to the output signal of the synchronous signal frequency division means when the means operates. Synchronous operation device for pulse train input motor. 2. A power conversion means for controlling the speed of the main motor so as to match the speed command signal, a load pulse encoder connected to a main load driven by the main motor, and a main position detecting unit for detecting the origin position of the main load. Position detecting means, a synchronizing signal frequency dividing means for inputting a pulse train signal from the load pulse encoder, and outputting a pulse train signal having a frequency for operating a sub-load described later in synchronization with the main load, and the load pulse encoder Asynchronous signal frequency dividing means for inputting the pulse train signal from, and outputting a pulse train signal of a frequency different from the output pulse train signal of the synchronizing signal frequency dividing means, and an output signal or an asynchronous signal component of these synchronizing signal frequency dividing means. Frequency division signal selection means for selecting one of the output signals of the frequency division means and the pulse train signal selected by the frequency division selection signal selection means are input to match the frequency. So as to control the speed of the secondary motor, secondary servo detection means for detecting the origin position of the secondary load driven by the secondary motor, and the secondary position detection means and the primary position detection means at the same time. The first origin coincidence detecting means for detecting the operation and the frequency division signal selecting means instructing the selection of the output signal of the asynchronous signal frequency division means at the time of starting the operation, the first origin coincidence detecting means operated. A pulse train input comprising: a frequency division signal selection command means for giving an instruction to switch the output signal of the asynchronous signal frequency division means to the output signal of the synchronous signal frequency division means at the time point. Synchronous operation device for electric motors. 3. A main servo amplifier for controlling the speed of the main motor so as to match the frequency of the command pulse train signal, a load pulse encoder coupled to a main load driven by the main motor, and an origin position of the main load. Synchronous signal frequency dividing means for inputting a pulse train signal from the main position detecting means and the load pulse encoder, and outputting a pulse train signal having a frequency for operating a slave load described later in synchronization with the main load, Asynchronous signal frequency dividing means for inputting a pulse train signal from the load pulse encoder and outputting a pulse train signal of a frequency different from the output pulse train signal of the synchronizing signal frequency dividing means, and an output signal of these synchronizing signal frequency dividing means or The divided signal selecting means for selecting any of the output signals of the asynchronous signal dividing means and the pulse train signal selected by the divided signal selecting means are inputted. The slave servo amplifying means for controlling the speed of the slave motor so as to match the frequency of the slave motor, the slave position detecting means for detecting the origin position of the slave load driven by the slave motor, and output for each rotation of the load pulse encoder. Load Z signal detecting means for detecting a pulse signal to be generated, a slave Z signal detecting means for detecting a pulse signal output every one rotation of the slave pulse encoder, these slave position detecting means, main position detecting means, load Z signal The second origin coincidence detecting means for detecting that the detecting means and the slave Z signal detecting means operate at the same time, and the frequency dividing signal selecting means commands the selection of the asynchronous signal frequency dividing means output signal at the start of the operation. , The second
Frequency division signal selection command means for giving to the frequency division signal selection means a command for switching the output signal of the asynchronous signal frequency division means to the output signal of the synchronous signal frequency division means when the origin coincidence detection means operates. A synchronous operation device for a pulse train input electric motor, characterized in that 4. A power converter for controlling the speed of the main motor so as to match the speed command signal, a load pulse encoder coupled to a main load driven by the main motor, and a main position detecting unit for detecting the origin position of the main load. Position detecting means, a synchronizing signal frequency dividing means for inputting a pulse train signal from the load pulse encoder, and outputting a pulse train signal having a frequency for operating a sub-load described later in synchronization with the main load, and the load pulse encoder Asynchronous signal frequency dividing means for inputting the pulse train signal from, and outputting a pulse train signal of a frequency different from the output pulse train signal of the synchronizing signal frequency dividing means, and an output signal or an asynchronous signal component of these synchronizing signal frequency dividing means. Frequency division signal selection means for selecting any of the output signals of the frequency division means and the pulse train signal selected by the frequency division signal selection means are input to match the frequency. So as to control the speed of the slave motor, slave servo amplifying means, slave position detecting means for detecting the origin position of the slave load driven by the slave motor, and a pulse signal output every one rotation of the load pulse encoder. Load Z signal detecting means for detecting, and 1 of the slave pulse encoder
A slave Z signal detecting means for detecting a pulse signal output for each rotation, and detecting that the slave position detecting means, the main position detecting means, the load Z signal detecting means, and the slave Z signal detecting means operate simultaneously. The two-origin coincidence detecting means and the frequency division signal selecting means instruct the selection of the output signal of the asynchronous signal frequency dividing means at the start of the operation, but the asynchronous signal frequency dividing is performed at the time when the second origin coincidence detecting means operates. And a frequency division signal selection command means for giving a command to the frequency division signal selection means to switch the output signal of the means to the output signal of the synchronization signal frequency division means.