Class / Patent application number | Description | Number of patent applications / Date published |
318569000 | Digital or numerical systems | 42 |
20080238351 | MOTOR CONTROL SYSTEM - A motor control system in which one numerical control device controls a first-type amplifier without a DSP and a second-type amplifier with a DSP, and the cost of which has been reduced by reducing the number of interface circuits (serial bus control circuits) to be provided in the numerical control device has been disclosed. The system comprises a first-type amplifier that receives a PWM instruction, a second-type amplifier that receives a positional instruction, a numerical control device, and a serial bus, wherein the numerical control device comprises a first processor that calculates a positional instruction of a motor, a DSP that calculates a PWM instruction of the first-type amplifier from the positional instruction, and a serial bus control circuit that outputs the PWM instruction of the first-type amplifier and the positional instruction of the second-type amplifier to the serial bus, and the first-type amplifier generates a drive current signal of a motor directly from the received PWM instruction and the second-type amplifier comprises a third processor that calculates a PWM instruction from the received positional instruction. | 10-02-2008 |
20080265822 | Class G motor drive - A method for driving a motor by using an output stage amplifier that operates between two or more separate supply voltages, depending on the amplitude of the input signal, is presented. This bridge unipolar class G stage allows driving the motor with high accuracy and improved efficiency without introducing switching noise typical of PWM motor driving. This method can be applied with the same benefits to class AB, pseudo class AB or to class A output stages. When this method is associated with an imposed current driving approach and with a current oversampling digital to analog converter the resulting advantages are very significant. | 10-30-2008 |
20100001678 | MOTOR CONTROL ARCHITECTURE FOR SIMULTANEOUSLY CONTROLLING MULTIPLE MOTORS - A motor control architecture is provided that simultaneously controls multiple motors. The motor control system includes memory, a plurality of motor control processors, and a communication controller. The motor control processors are each responsive to control signals supplied from the communication controller to selectively retrieve system commands and motor positions from the memory, to generate motor commands, and to supply the generated motor commands to the memory. The communication controller selectively receives system commands and transmits the received system commands to the memory, selectively supplies the command signals to selected ones of the motor control processors, selectively receives motor positions from a plurality of motors, selectively transmits motor positions to the memory, selectively retrieves generated motor commands supplied to the memory, and selectively transmits the retrieved motor commands. | 01-07-2010 |
20100148715 | METHOD FOR IMPROVING MOTION TIMES OF A STAGE - Methods and systems for, in one embodiment, accelerating a stage through a clearance height in a first direction and decelerating the stage in the first direction while accelerating in a second direction are shown. The stage is moved in a third direction and a determination is made whether the stage movement in the second direction is below a threshold value before continuing to move the stage further in the third direction. The first direction is perpendicular to the second direction and is parallel and opposite to the third direction. | 06-17-2010 |
20110095718 | SERVO MOTOR SYSTEM AND OPERATING METHOD OF THE SAME - A servo motor system and an operating method of the servo motor system are disclosed. The servo motor system includes a servo motor and a servo driver. The servo motor is electrically connected to the servo driver. The servo motor includes a motor unit and an encoder. The encoder is mechanically connected to the motor unit. The encoder includes a CPU and a memory unit. The memory unit is electrically connected to the CPU. Data parameters are saved in the memory unit. The servo driver uses data parameters of the motor unit saved in the memory unit for controlling the motor unit. The servo motor system and the operating method provide a mechanism to drive and offer compensation to an upgraded motor. | 04-28-2011 |
20120146569 | METHOD FOR IMPROVING MOTION TIMES OF A STAGE - Methods and systems for, in one embodiment, accelerating a stage through a clearance height in a first direction and decelerating the stage in the first direction while accelerating in a second direction are shown. The stage is moved in a third direction and a determination is made whether the stage movement in the second direction is below a threshold value before continuing to move the stage further in the third direction. The first direction is perpendicular to the second direction and is parallel and opposite to the third direction. | 06-14-2012 |
20130033219 | MOTOR DRIVER CONTROL DEVICE - A position-command-pulse generation unit generates a position command pulse to be output to a motor driver by advancing an initial phase thereof by a phase indicated by initial phase information preset in a device. The initial phase information indicates an arbitrary phase in a period of a half cycle of a first pulse of the position command pulse. | 02-07-2013 |
20130257340 | NUMERICAL CONTROL APPARATUS - A numerical control apparatus includes an imaginary-Y-axis control unit configured to execute an imaginary Y-axis control mode which is a mode for converting an X-Y axes movement command in a machining program described in a program coordinate system into a command in a machine coordinate system including X-H-C axes and for driving the X axis, the H axis, and the C axis in association with one another according to the converted command, an acquiring unit configured to acquire, when an emergency stop occurs during the imaginary Y-axis control mode, present positions of the X axis, the C axis, and the H axis at the time when the emergency stop is released, and a restoring unit configured to restore a present X-axis coordinate position and a present Y-axis coordinate position in the program coordinate system from the acquired present positions of the X axis, the C axis, and the H axis. | 10-03-2013 |
20140042950 | NUMERICAL CONTROLLER WITH MULTICORE PROCESSOR - A numerical controller includes a multicore processor, an integrated peripheral control LSI, a motor control section and an amplifier interface section. The multicore processor has two cores. One is assigned as a numerical control section processor core, and the other is assigned as a programmable machine controller section processor core. The motor control section is composed of a motor control section processor and a peripheral control LSI. | 02-13-2014 |
20140333248 | SERVO MOTOR CONTROL SYSTEM - All correction data is stored in the main memory of a numerical controller in advance. Of all correction data, the minimum data required for correction is transferred, for each interpolation cycle, to a built-in memory of a peripheral control LSI included in a servo control unit. A servo control processor performs repetitive control using the data transferred to the memory. | 11-13-2014 |
20140368151 | NUMERICAL CONTROL UNIT HAVING FUNCTION TO SMOOTHLY CHANGE FEED SPEED WHEN OVERRIDE IS CHANGED - A commanded speed is acquired by a command program analysis unit, an override is acquired by an override input unit, and the override before input is changed in steps by a stepwise override change unit to the override that is input, in a predesignated time or by a predesignated change amount, and outputs the override changed as an actual override. The actual override is acquired by a speed operation unit in an interpolation cycle from the stepwise override change unit and the commanded speed is multiplied by the actual override to calculate a feed speed. | 12-18-2014 |
20150145464 | Controller and Control Method - A controller has a control unit generating a control signal to control a drive motor and a friction compensation unit adding a friction compensation signal to the control signal for compensating for a positioning error caused by friction in a guide unit. When reversing the direction of movement of the movable body, the friction compensation unit generates a friction compensation signal in accordance with a function f(α) representing a friction compensation value uf by a relationship with a variable α and asymptotically approaching the maximum value and the minimum value of the friction compensation value uf and having an inflection point therebetween, and adds the generated friction compensation signal to the control signal generated by the control unit during movement of the movable body a predetermined movement distance from before to after the reversing. | 05-28-2015 |
20160126626 | THREE-AXIS CONTROL ANTENNA DEVICE - A vertical axis driver drives a vertical axis for azimuth angle tracking. A horizontal axis driver drives a horizontal axis for elevation angle tracking. A cross horizontal axis driver drives a cross horizontal axis to which an antenna is attached, that is rotatable around an axis orthogonal to the horizontal axis. An arithmetic processing controller generates a drive signal of a constant azimuth angle the vertical axis when a maximum elevation angle of the antenna is greater than or equal to a set angle in a path of the target object in a single time of continuous tracking. When the maximum elevation angle of the antenna is less than the set angle in the path of the target object in the single time of continuous tracking, the controller issues a drive command of an azimuth angle direction to the vertical axis. | 05-05-2016 |
20160132041 | MOTOR CONTROL APPARATUS GENERATING COMMAND LIMITED BY MOTOR TORQUE - A motor control apparatus includes a detection unit detecting a motor rotational frequency, a storage unit storing an allowable torque at the motor rotational frequency detected by detection unit, a first torque offset generated in a direction opposite to a moving direction of a movable body, a second torque offset generated in one direction regardless of the moving direction of the movable body, a rotor inertia moment, a load inertia moment, and a conversion factor for converting a motor rotation angle in rotary motion of the motor to a moving distance in linear motion of the movable body, and an acceleration calculation unit calculating an acceleration command of the motor for each moving direction of the movable body and each acceleration operation and deceleration operation using the allowable torque, the first torque offset, the second torque offset, the rotor inertia moment, the load inertia moment, and the conversion factor. | 05-12-2016 |
20160139583 | MOTOR SELECTION DEVICE - A motor selection device includes a computer including a storage device and a calculation device. The storage device stores data of acceleration time, constant speed time, deceleration time, stop time, maximum output torque for each motor, dynamic friction torque, and constant load torque. To select selectable motors and to suggest an optimal operation pattern among motor operation patterns, the calculation device includes a central processing unit (CPU) and performs effective torque calculation by calculating torque in the acceleration time, in the constant speed time, in the deceleration time, and in the stop time based on data stored in the storing unit, and calculating the effective torque by giving a first torque, a second torque, a third torque, a fourth torque, the acceleration time, the constant speed time, the deceleration time, and the stop time to a predetermined formula. | 05-19-2016 |
20160139584 | OPTIMIZATION OF GIMBAL CONTROL LOOPS USING DYNAMICALLY MEASURED FRICTION - A method to slew a gimbal axis in an infrared countermeasures system (IRCM) comprising the steps of driving the motors up to the peak currents allowed by the servo amplifiers, moving the profile generator from firmware to software for design flexibility, forcing high torque by manipulating the angle waveform sent to hardware, measuring friction during acceleration of each slew, providing a dynamic rate limit for receding or advancing angle goals is presented in this application. | 05-19-2016 |
318570000 | Contouring systems | 26 |
20080309276 | Five Axis Compensated Rotating Stage - A rotating stage assembly performs high precision rotational angle and position error correction by continuous sensing and correcting motor stage assembly errors. It performs these corrections, to adjust for motor environmental and operational errors by sensing and correcting using five sensors placed to measure the adjustments of five corresponding actuators, which adjust the entire motor rotating stage and rotary motor assembly relative to a reference frame. | 12-18-2008 |
20090058343 | APPARATUS FOR OPERATING A MACHINE - An apparatus for operating a machine having electric axes includes a power module for supplying axis drives with electrical energy, an axis regulating module for regulating parameters of the axis drives, and an axis control module for controlling axis drives among one another. The modules are all interconnected with one another and located inside the apparatus as integral components of the apparatus. Synchronization is established between the functions of the modules, so that related courses of motion of a machine that is to be triggered are executed as precisely as possible. | 03-05-2009 |
20090160388 | MACHINE TOOL OR PRODUCTION MACHINE WITH SIGNAL GENERATION BY MEANS OF DIRECT DRIVE AND METHOD FOR GENERATING SIGNALS IN SUCH A MACHINE | 06-25-2009 |
20100188035 | MACHINE TOOL AND CONTROLLING METHOD THEREOF - It is an object of the present invention to provide a machine tool and a machining method thereof which can execute to machine the workpiece more precisely. | 07-29-2010 |
20100231157 | NUMERICAL CONTROLLER HAVING AXIS RECONFIGURATION FUNCTION - A numerical controller capable of performing axis reconfiguration of control axes in at least two paths without need for the paths to wait. A program block is read and it is determined whether or not the read block includes an axis detachment command. If the block includes the axis detachment command block, an action axis attribute of an control axis designated by the axis detachment command is altered to a non-action axis attribute. Further, if the read block includes an axis allocation command, it is determined whether or not an control axis designated by the axis allocation command becomes a non-action axis, and when the control axis has the non-action axis attribute, the non-action axis attribute of the control axis is altered to a designated path's action axis attribute. Thus, the axis reconfiguration processing in one path can be performed separately from axis reconfiguration processing in another path. | 09-16-2010 |
20120056572 | APPARATUS AND METHODS FOR SYNCHRONIZED DISTRIBUTED CONTROLLERS - Intelligent servomotor controller, including integrated servomotor controller having motor with rotor in first housing; rotor position encoder producing measured position of rotor; microprocessor within second housing mating to first housing, electrically connected to rotor position encoder, serial communications port connecting to another integrated servomotor controller communicating desired rotor position command using serial digital data, microprocessor having software receiving desired position commands through communications port, computing error between desired position command and encoder-transmitted measured rotor reducing error signals to zero. Microprocessor is a position based servo system within second housing and rotor within first housing to desired position defined by communication with another integrated servo element. Microprocessor produces actuation signal to direct PID filter connected to microprocessor, PID filter providing drive amplifier servo control of supplying current to the motor. Cooperative communication facilitates synchronized action with integrated servo element. Embodiments also include method of operating IISMC group, including setting combined path target acceleration for IISMC; setting combined target velocity for IISMC; setting individual target position for IISMC; and initiating synchronized motion in the IISMC. | 03-08-2012 |
20120187890 | NUMERICAL CONTROLLER HAVING WORKPIECE MOUNTING ERROR COMPENSATION UNIT FOR THREE-AXIS MACHINE TOOL - A numerical controller controls a three-axis machine tool that machines a workpiece, mounted on a table, with at least three linear axes. The numerical controller includes a workpiece mounting error compensation unit that compensates a mounting error caused when the workpiece is mounted. The workpiece mounting error compensation unit performs an error compensation with respect to an instructed linear-axis position with amounting error which is set beforehand, in order to keep a position with respect to the workpiece at a tool center point position, based on the instructed linear-axis position of the three linear axes to obtain a compensated linear-axis position. The three linear axes are driven based on the obtained compensated linear-axis position. | 07-26-2012 |
20130169208 | PATH DISPLAY APPARATUS CONSIDERING CORRECTION DATA - A path display apparatus includes a first position command acquiring unit that acquires first position command for motors, a first position feedback acquiring unit that acquires first position feedback of each of the motors, a correction data acquiring unit that acquires correction data generated for each of the motors, a second position command calculating unit that subtracts the correction data from the first position command to calculate a second position command, a second position feedback calculating unit that subtracts the correction data from the first position feedback to calculate second position feedback, a command path display unit that displays a command path of the tip point of the tool, based on the second position command; and a feedback path display unit that displays a feedback path of the tip point of the tool, based on the second position feedback. | 07-04-2013 |
20130307459 | MOTION PROFILE GENERATOR - Systems and methods are provided for generating a constraint-based, time-optimal motion profile for controlling the trajectory of a point-to-point move in a motion control system. A profile generator can calculate an ST-curve motion profile that includes a jerk reference that varies continuously over time for at least one of the motion profile segments, thereby producing a smooth, time-optimal trajectory. The profile generator can create the motion profile to conform to a set of motion constraints provided by the user. The profile generator also supports calculation of time-optimal motion profiles having segments that align to the sample time of the motion control system. In some embodiments, the profile generator can efficiently generate the motion profile by performing reference calculations only for those segments that will be used in the final motion profile for a given point-to-point move. | 11-21-2013 |
20140084839 | MULTI-AXIS MOTOR DRIVING SYSTEM AND MULTI-AXIS MOTOR DRIVING APPARATUS - The multi-axis motor driving apparatus includes an integrated controller that is configured to discriminate between a drive axis that uses the motor subjected to semi-closed control based on the motor control command and a detection position detected by the encoder and a drive axis that uses the motor subjected to full-closed control based on the motor control command, the detection position detected by encoder and a detection position detected by the linear scale, based on a change amount of the detection position of the encoder or the detection position of the linear scale obtained when the motor subjected to full-closed control is driven. | 03-27-2014 |
20150309498 | NUMERICAL CONTROL DEVICE FOR MACHINE TOOL - A numerical control device for a machine tool includes: a timing calculation unit configured to calculate a start timing of a post-reverse movement command by which a position, where the sum of velocities generated in response to a pre-reverse movement command and the post-reverse movement command becomes zero, is equal to a position distanced by an in-position width from the end point of the pre-reverse movement command; and a movement command start unit configured to start the post-reverse movement command in accordance with the start timing calculated by the timing calculation unit. | 10-29-2015 |
318571000 | With "feed-rate" control | 2 |
20080218116 | SERVO CONTROLLER - A servo controller for synchronously controlling a master driving source for driving a driving shaft and a slave driving source for driving a driven shaft, having a position control section that performs a position control based on a positional deviation which is a difference between a position command value given to the slave driving source and a feedback value detected from the slave driving source, an operational section that calculates a synchronization error which is a difference of the positional deviation between the master driving source and the slave driving source, and a correction data calculating section that calculates first correction data for correcting the positional deviation of the slave driving source. | 09-11-2008 |
20090295323 | METHOD AND DEVICE FOR GUIDING THE MOVEMENT OF A MOVING MACHINE ELEMENT ON A NUMERICALLY CONTROLLED MACHINE - The invention relates to a method and a device for guiding the movement of a moving machine element on a numerically controlled machine, whereby maximum possible track speed, maximum possible track acceleration, and maximum possible track jerk are defined by means of given restrictions on track axes. The local minima for the maximum possible track speed are determined, whereby for each local minimum a corresponding left-sided and right-sided track speed segment is determined, whereby, for track values for the displacement track to the left and right of a given minimum, the resulting track speed is determined by using the maximum possible track jerk and the maximum possible track acceleration until the track speed exceeds the maximum possible track speed to the left and right of the minimum, a track jerk curve for the movement guidance is hence determined. According to the invention, a simple method and a simple device for movement guidance of a moving machine element on a numerically controlled machine are achieved, with as good as possible a usage of the restrictions on machine axes of the machine. | 12-03-2009 |
318572000 | With "zero-offset" or tool radius correction | 4 |
20080252248 | Device and Method for Calibrating the Center Point of a Tool Mounted on a Robot by Means of a Camera - A device and a method for tool center point calibration of an industrial robot. The device is intended to calibrate an industrial robot with respect to a tool mounted on the robot. The device includes a camera designed to take a plurality of images of at least part of the robot tool for a plurality of different tool orientations, an image-processing unit designed to determine the positions of the robot tool in the orientations based on the images, a calculation module adapted to calculate the position of the center point of the robot tool, based on the determined positions, and a control module adapted to calculate the corrective movements of the robot. | 10-16-2008 |
20090140684 | NUMERICAL CONTROLLER FOR CONTROLLING A FIVE-AXIS MACHINING APPARATUS - A numerical controller capable of moving a tool end point position to an accurate position in a five-axis machining apparatus. Compensation amounts are set, which correspond to respective ones of a linear axis-dependent translational error, a rotary axis-dependent translational error, a linear axis-dependent rotational error, and a rotary axis-dependent rotational error, which are produced in the five-axis machining apparatus. A translational/rotational compensation amount Δ3D is determined from these compensation amounts and added to a command linear axis position Pm. As the compensation amounts, there is used a corresponding one of six-dimensional lattice point compensation vectors, which are determined in advance as errors due to the use of a mechanical system and measured at lattice points of lattices into which the entire machine movable region is divided. | 06-04-2009 |
20100164424 | TOOL COMPENSATION SYSTEM AND METHOD FOR COMPUTER NUMERICAL CONTROL MACHINE - A tool compensation system for compensating abrasion of a tool includes a rangefinder, a control system, and a compensation apparatus. The compensation apparatus includes an actuator, a transmission element, and a regulator. The rangefinder measures an actual length of the tool. The control system calculates a compensation value according to the actual length, and outputs a control instruction to the compensation apparatus according to the compensation value. The transmission element is actuated by the actuator to move a distance equaling to the compensation value in response to receiving the control instruction. The regulator is configured for supporting an article to be machined by the tool, and capable of moving towards the tool under the actuation of the transmission element, to compensate for abrasion of the tool. | 07-01-2010 |
20110234142 | NUMERICAL CONTROLLER CONTROLLING FIVE-AXIS MACHINING TOOL - A five-axis machining tool that machines a workpiece mounted on a table using three linear axes and two rotary axes is controlled by a numerical controller. The numerical controller calculates a translational compensation amount and a rotational compensation amount by obtaining axis-dependent translational compensation amounts and axis-dependent rotational compensation amounts on the basis of commanded axis positions. Then, the numerical controller moves the three linear axes and the two rotary axes of the five-axis machining tool to positions obtained by adding the translational compensation amount and the rotational compensation amount thus calculated to a command linear axis position and a command rotary axis position, respectively. | 09-29-2011 |
318573000 | With interpolating means | 9 |
20090102411 | SYSTEM AND METHOD FOR JERK LIMITED TRAJECTORY PLANNING FOR A PATH PLANNER - A system for generating a motion profile in real time includes a processor. The processor breaks a move into a first phase and a second phase. The first phase includes commanding the move toward a constant velocity segment, and the second phase comprises calculating a jerk value required to successfully reach end conditions during a move in progress. The processor also transmits command signals based upon the motion profile and calculates the point at which the second phase must take control to reach a target position. The system further includes a device being controlled for a move and at least one input/output module that receives command signals. A method for generating a motion profile in real time is also presented. | 04-23-2009 |
20090160389 | METHOD AND DEVICE FOR GUIDING THE MOVEMENT OF A MOVEABLE MACHINE ELEMENT OF A MACHINE - The invention relates to a method for guiding the displacement of a displaceable machine element ( | 06-25-2009 |
20090261771 | INTERPOLATOR FOR A NETWORKED MOTION CONTROL SYSTEM - An interpolator for a system, such as a motion control system, where a stream of values of at least a first command signal is communicated across a communications medium according to a predefined update rate. The integrator is configured to calculate at a higher rate relative to the update rate to generate at least one interpolated prediction of the first command signal. | 10-22-2009 |
20090315502 | ACCELERATION AND DECELERATION CONTROL APPARATUS AND METHOD THEREOF - An acceleration/deceleration control apparatus for a computer numerical control machine tool includes an interpolator, a motion-transforming unit, and a drive transforming unit. The interpolator receives a velocity signal and outputs a pulse velocity signal. The motion unit is connected to the interpolator and includes an operation filter. The operation filter includes a plurality of different weight values and a plurality of registers corresponding to the numbers of the weights to calculate the pulse velocity signal to an acceleration/deceleration pulse velocity signal by a first function. The weight values are derived by a second function corresponding to the shape of the acceleration/deceleration pulse velocity signal. The driving unit is connected to the motion unit and transforms the acceleration/deceleration pulse velocity signal to a driving signal to drive a motor. | 12-24-2009 |
20100026229 | SERVOMOTOR SPEED CONTROL - A method for controlling a servomotor for driving a movable part of a machine, the method comprising: determining the coordinates of an acceleration and of a deceleration curve for each stage of a cycle of operation to move said part; determining the maximum number of stages required to complete said cycle; initiating the acceleration curve for the first stage of the cycle of operation; and dynamically correcting the cycle of operation, at at least one intermediate point in the cycle, to initiate the deceleration curve appropriate to the stage, at a predetermined decision point, if production line parameters require a change to the operation cycle. | 02-04-2010 |
20100085003 | APPARATUS AND METHOD FOR CONTROLLING AN ACTUATOR - A controller for an actuator estimates the torque required to accelerate and decelerate an actuator and calculates a trajectory to a desired position based on the estimated torque requirements. The controller then determines an appropriate step size to move the actuator in the current time interval. Each time cycle the controller recalculates the trajectory to account for changes in conditions or operator inputs. The controller determines an appropriate step size to move the actuator in the next time interval based on the new trajectory. | 04-08-2010 |
20100277114 | APPARATUS FOR GENERATING SPEED INSTRUCTION FOR MOTOR CONTROL - A speed instruction generation apparatus of a motor interpolates a first position instruction to obtain a second position instruction. The second position instruction is a second-order continuous instruction. The second-order continuous position instruction is differentiated two times to obtain a compensation speed. The speed instruction generation apparatus further generates a first speed instruction according to a difference between an actual position value of the motor and the second position instruction. The first speed instruction is added to the compensation speed to obtain a second speed instruction to control a rotation speed of the motor. | 11-04-2010 |
20120007536 | TOOL PATH DISPLAY APPARATUS WITH DECELERATION FACTOR IDENTIFICATION MEANS FOR MACHINE TOOL - A numerical controller calculates a first position command from a machining program, converts the first position command into a second position command for restricting a tangential speed of a tool, and delivers the second position command and a status signal indicative of the achievement of the conversion of the first position command into the second position command to a tool path display apparatus. The tool path display apparatus displays the path of the tool in a color corresponding to the status signal and can thereby determine the point on the tool path at which the speed restriction is performed. | 01-12-2012 |
20160033954 | CONTROL SYSTEM OF SERVO MOTORS IMPROVING PROCESSING PRECISION OF PLURALITY OF AXES - A control system of servo motors in a machine tool, comprising a host control device which generates position command values for processing a workpiece, servo control devices which drive servo motors to operate a tool for processing using the position command values, and position detectors which detect positions of the servo motors or a tool position and further a position error computing part computes position error between the position command values and detected positions of the servo motors, a reference angle generating part calculates a reference point on a closed figure and a reference angle which varies monotonously from a current processing point under the condition that any position inside of the closed figure which the position command value forms as the center, and learning control parts use the reference angle and the position error as the basis to perform angle synchronization type learning control to control the servo motors. | 02-04-2016 |