JP2009208206A - Synchronous controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a synchronous controller capable of controlling a plurality of driving sources in synchronization and preventing the generation of the non-uniformity of a tensile force and the breakage of a chain-like member. <P>SOLUTION: This synchronous controller moves a chain having a plurality of tool pots by a master motor Ma and a slave motor Mb, indexes information about positions of motors and tools to be taken out by position control parts 19A, 19B, respectively, obtains positional deviation from information about these positions by a synchronous error computing means 21, and obtains a speed error in computation by a computed speed error computing means 25. Speed control parts 22A, 22B obtain information about speeds of both the motors Ma, Mb and obtain an actual speed error by an actual speed error computing means 24. This synchronous controller computes values for ordering speed correction from both the speed errors by a speed correction computing means 26, converts them into correction current values to determine that they are correction allowance values or smaller by a comparing and determining means 27, and inputs them into a current control part 30B on a slave motor side to add a current in order to control the slave motor in synchronization with the master motor. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention holds, for example, a chain-type tool magazine, punch press, or other chain-like member in a machining center with a holder such as a tool, and a plurality of drive sources such as a motor at a specific take-out position. It is related with the synchronous control apparatus for carrying out movement control by.

2. Description of the Related Art Conventionally, in a machine tool such as a machining center, for example, an automatic tool changer that selects a predetermined tool from a number of replacement tools held in a chain-type tool magazine and moves it to a take-out position is known. In a chain-type tool magazine, these tool holders are held at predetermined intervals by a chain, and controlled to be driven using a drive source such as a servo motor to move / stop a desired tool to a take-out position. .
In such a chain type tool magazine, since inertia is large when the chain is driven, when the chain is driven by one motor, the load applied to the chain magazine is biased, and an excessive load is applied to some chain parts. May lead to damage. In addition, if the indexing accuracy of the tool decreases due to the elongation of the chain, the chain may be damaged due to the bending or abnormal tension of the chain. In order to improve such a problem, a technique for driving and controlling a chain using a plurality of motors has been proposed.

In an automatic tool changeable (ATC) chain type tool magazine, the synchronous control device that controls the drive of the chain by a two-axis motor synchronizes the movement of the holder by outputting the same speed command to the two motor drive units. I was in control. The two motor drive units are engaged with each other via sprockets at positions separated from each other in an endless chain having a tool holder, and based on the relationship between the tool holder to be taken out of the chain and each motor. Each motor is controlled synchronously.
Further, in the chain-type transport device described in Patent Document 1, a plurality of index positions for winding an endless chain with a large number of transported object holders wound around four sprockets and stopping and positioning the holders Is set. In this device, a motor is connected to each sprocket located on the upper side in the chain running direction, a slack correction value is set for each motor, and a feed command for running the chain to each indexing position is set for each motor. The motor is driven and controlled by correcting with the set slack correction value.
JP-A-4-304945

However, in the former synchronous control device, when a part of the chain is bent or slack, the tension of the chain becomes non-uniform, so that the position control of the holder to be indexed and the speed control of the chain cannot be performed accurately. For this reason, excessive tension may be generated in a part of the chain to cause damage, or an overcurrent may be generated in the drive motor.
Moreover, in the latter chain type | system | group conveying apparatus described in patent document 1, there is only description only of setting a slack correction value, and there is no indication about the setting method. For this reason, it cannot be said that the uneven tension of the chain during driving can be suppressed, and the above-described position control of the holder and the speed control of the chain cannot be performed accurately, causing the chain to be damaged or excessively applied to the drive motor. Problems such as current generation could not be suppressed.

  The present invention has been made in view of such a problem, and synchronous control in which a plurality of drive sources are synchronously controlled to improve unevenness in tension and to suppress problems such as breakage of a chain-like member. An object is to provide an apparatus.

A synchronization control device according to the present invention includes a master side drive source and a slave side drive source that drive a chain-like member having a plurality of holders for transported objects, and synchronously controls the master side drive source and the slave side drive source. In the synchronous control device configured to move the chain-like member to transfer the conveyed product, a synchronization error calculating means for obtaining a positional deviation from the positional information of the master side driving source and the slave side driving source and the conveyed product, A calculation speed error calculation means for calculating a speed deviation by calculation of the master side drive source and the slave side drive source from the deviation; an actual speed error calculation means for calculating an actual speed deviation from the speed information of the master side drive source and the slave side drive source; Then, the speed correction command value of the slave side drive source is obtained from the calculated speed deviation and the actual speed deviation, and the converted current value is supplied to the slave side drive source. Characterized in that the master side drive source and the slave side drive source to control synchronization between.
According to the present invention, when transporting a specific transported object held by the chain-shaped member to a predetermined position, the position information of the specific transported object and the master side drive source in the chain-shaped member, the specific transported object and the slave side The position information with the drive source is detected, the position error is calculated by the synchronization error calculation means from the position information, and then the speed information is calculated from the position deviation by the calculation speed error calculation means. The actual speed deviation is calculated by the actual speed error calculation means from the speed information of the power source and the slave side drive source, and the speed correction command value of the slave side drive source is obtained from the speed deviation by these calculations and the actual speed deviation, and the corrected current value Convert to Then, the correction current value is input to the slave side drive source to correct the drive of the slave side drive source so as to be synchronized with the master side drive source. As a result, when the chain-like member is synchronously driven by the two-axis drive source having the master side drive source and the slave side drive source, fluctuations in the chain tension can be suppressed to prevent an excessive load from being applied as an acting force. .
Therefore, the conveyed product held by the chain member can be moved and stopped with high accuracy.

In addition, when the correction current value converted by the speed correction calculation means is further less than or equal to a preset correction allowable value, the comparison determination means is further provided, and the correction current value is equal to or less than the correction allowable value It is preferable to add the speed information obtained by the speed control unit of the slave drive source to the converted current value.
Confirm that the correction current value is equal to or less than the allowable correction value by the comparison discriminating means and supply it to the slave side drive source, and add the speed information obtained by the speed control unit of the slave side drive source to the converted current value. Therefore, it is possible to prevent an excessive current from flowing to the slave side drive source with respect to the master side current value obtained by converting the speed information obtained by the speed control unit of the master side drive source. Can protect.

Alternatively, the speed information may be corrected by inputting the speed correction command value obtained by the speed correction calculating means to the speed control unit connected to the slave side drive source.
The speed correction command value obtained by the speed correction calculation means can be made smaller by inputting the speed correction command value to the slave speed control unit that outputs the speed information of the slave drive source to the actual speed error calculation means. Thus, the correction current value can be reliably controlled below the correction allowable value.
Further, the correction current value output from the comparison / determination unit may be multiplied by a coefficient corresponding to the material and tension of the chain member by the coefficient correction unit.
As a result, the accuracy of the correction current value can be made higher and the tension of the chain-like member can be controlled more reliably.
Further, the apparatus further includes a position control unit that determines position information of the master side drive source, the slave side drive source, and the conveyed product, and a speed control unit that detects speed information of the master side drive source and the slave side drive source, respectively. Preferably it is.

Further, the conveyed product may be a tool held on the chain-like member at a predetermined interval.
A two-axis control of a chain-shaped member having a plurality of tool holders by a master side drive source and a slave side drive source, and a slave based on each deviation in position information and speed information of the master side drive source and slave side drive source By adjusting the current value to be supplied to the side drive source, that is, the torque, the master side drive source and the slave side drive source can be controlled synchronously with high accuracy, and the change in the tension of the chain-like member can be suppressed to transfer the tool. Positioning can be stopped with high accuracy.

  The synchronous control device according to the present invention synchronously controls the master side drive source and the slave side drive source to prevent the overload current from being generated in the slave side drive source and to suppress the abnormality of the tension of the chain-like member to make it more constant. Therefore, it is possible to obtain the effect of ensuring the indexing accuracy of the holder of the transport tool over a long period of time.

Hereinafter, a synchronous control device for a tool magazine of an automatic tool changer (ATC) according to an embodiment of the present invention will be described with reference to the accompanying drawings.
FIG. 1 is a view showing a part of an automatic tool changer and a tool magazine of a machine tool in a machining center according to an embodiment of the present invention, FIG. 2 is a view showing an automatic tool changer and a spindle of the machine tool, and FIG. 4 is a front view of the magazine, FIG. 4 is a block diagram of a synchronous control device for moving the pot of the tool magazine to the take-out position, and FIG. 5 is a flowchart of indexing the tool held in a specific pot of the tool magazine by synchronous control. .
1 to 3, in the machine tool 1 of the machining center according to the present embodiment, a main shaft 2 of the machine tool 1 and a tool 3 to be exchanged and mounted on the main shaft 2 are stored in a pot 4 as a holder at a large number at predetermined intervals. A chain-type tool magazine 5 provided, and an automatic tool changer 6 for automatically changing the tool 3 stopped at the tool take-out position P of the tool magazine 5 with the main shaft 2 are provided.

Pots 4 containing replacement tools 3 are attached to the chain 7 of the tool magazine 5 at predetermined intervals. The chain 7 is formed in an endless loop shape, and the master motor Ma and the slave motor Mb serve as drive sources for performing drive control for indexing a desired tool 3 from the chain 7 and moving / stopping it to the take-out position P. A main sprocket 9 and a sub-sprocket 10 are arranged on the output shafts of the motors Ma and Mb.
Between the sprockets 9 and 10, guide sprockets 11, 12, 13, and 14 that are arranged at predetermined intervals and mesh with the chain 7 are arranged to maintain the tension of the chain 7. ing. The chain 7 meshes with the sprockets 9 to 14 and moves around.

Next, the chain 7 is driven by the master motor Ma and the slave motor Mb, the pot 4 containing the desired tool 3 is indexed and positioned with respect to the master motor Ma and the slave motor Mb, and the chain 7 is moved to the take-out position P. The synchronization control device 16 for stopping it will be described with reference to the block diagrams shown in FIGS.
The synchronization control device 16 includes a master motor system A having means for driving and controlling the master motor Ma and a slave motor system B having means for driving and controlling the slave motor Mb. The slave motor Mb is controlled to be slaved to the master motor Ma based on the drive of the master motor Ma.

A command signal for taking out the desired tool 3 from the drive control means 17 of the machine control device 34 to the master motor Ma and slave motor Mb of the synchronous control device 16 and moving / stopping it to the position P is sent to the master motor system A and the slave motor system. The signals are output to the B position control units 19A and 19B, respectively. In the position control unit 19A of the master motor system A, the position of the desired motor 3 on the chain 7 with respect to the master motor Ma is stored with respect to the master motor Ma by an unillustrated detector or an encoder (not shown) provided in the master motor Ma. The relationship is detected and determined, and this is output as position information, that is, a position signal.
The position signal of the master motor system A is multiplied by a correction coefficient 1 / K1 set in advance based on the drive structure of the chain-type tool magazine 5, the material of the chain 7, the processing method, etc., in the coefficient correction means 20A. 21 is input as a position signal on the master drive source side.
Also in the position control unit 19B of the slave motor system B, a pot 4 in which a desired tool 3 on the chain 7 with respect to the slave motor Mb is accommodated by a detector (not shown) or an encoder (not shown) provided in the master motor Ma. Is detected and determined, and this is output to the synchronization error calculating means 21 as a position signal on the slave drive source side.

The synchronization error calculation means 21 compares the position signal of the master motor system A and the position signal of the slave motor system B and calculates the difference as the synchronization error between the motors Ma and Mb. The synchronization error signal of the position information is described later. It outputs to the correction value calculation means 23. This synchronization error signal is an error in the positional relationship of the pot 4 when the pot 4 of the tool 3 held by the tool magazine 5 and the motors Ma and Mb are started to be driven synchronously, even when there is no synchronization error.
Next, when a position signal is input from the position controller 19A in the master motor system A, the speed controller 22A determines the speed of the chain 7 in the region driven via the master motor Ma and the sprocket 9 by the feedback signal from the master motor Ma. Set as speed information (speed signal) of the master side drive source.
In the slave motor system B, when a position signal is input from the position control unit 19B, the speed control unit 22B determines the speed of the chain 7 in the region driven via the slave motor Mb and the sprocket 10 by the feedback signal from the slave motor Mb. Set as speed information (speed signal) of the slave drive source.

As shown in FIG. 5, the correction value calculation means 23 includes an actual speed error calculation means 24 that calculates an actual speed error, and a calculation speed error calculation means 25 that calculates a speed error by calculation from a synchronization error. The speed correction calculation means 26 calculates a speed correction command value based on the speed error parameter stored in advance in the memory 26a with respect to the speed error that is the difference between the speed error obtained by the calculation and the actual speed error. The speed correction calculating means 26 inputs this speed correction command value to the speed control unit B of the slave motor system B through an adder to correct the speed of the chain 7 and convert the speed correction command value into a current value. This is input to the comparison discriminating means 27 as the correction current value Ed.
Here, an example of a method for setting the speed error parameter in the memory 26a will be described. The speed error by calculation is a speed error between the motors Ma and Mb that does not take into account a change in the slack of the chain 7 or a change in the tension. The actual speed error indicates the degree of slackness of the chain 7 occurring at the time of measurement and the speed error when receiving tension. When the speed error is reduced by correcting the speed of the slave motor Mb, the slack and tension of the chain 7 meshing with the slave motor Mb are also changed, and the speed of the chain 7 meshing with the sprocket 10 is also changed.
Therefore, by performing a measurement test in advance, changing the difference between the calculated speed error and the actual speed error, a plurality of speed correction values obtained by measuring the speed correction value for the actual speed error to be zero corresponding to this difference are obtained. Data is used as a speed error parameter.

The comparison determination unit 27 determines whether or not the correction current value Ed is equal to or less than a preset correction allowable value. If the correction current value Ed is equal to or less than the correction allowable value, it is determined to be normal, and the coefficient correction unit 29 drives the tool magazine 5. The correction current value Ed ′ is input to the current control unit 30B of the slave motor system B after applying a correction coefficient K2 based on the structure, the chain material, and the like.
In addition, when the current value Ed exceeds the allowable range by the comparison / determination means 27, an overcurrent may flow through the slave motor Mb. Therefore, it is determined that there is an abnormality, and the motors Ma and Mb are urgently passed through the protection circuit 31. Stop.

The current control unit 30A of the master motor system A converts the speed information of the chain 7 set by the speed control unit 22A into a current value (torque) Ea for driving the master motor Ma. Also in the current control unit 30B of the slave motor system B, the speed information of the chain 7 set by the speed control unit 22B is converted into a current value (torque) Eb and output from the comparison determination unit 27 of the correction value calculation unit 23. The corrected current value Ed ′ is added to obtain a current value Ec (= Eb + Ed ′) for driving the slave motor Mb.
The current value Ea of the master motor system A set in this way is amplified by the drive amplifier 33A to drive and control the master motor Ma. Further, the current value Ec of the slave motor system B is amplified by the drive amplifier 33B to drive and control the master motor Mb.

Further, by being driven and controlled by the master motor Ma, the position information is fed back to the position control unit 19A, the position information set by the position control unit 19A is updated, and the speed information is also fed back to the speed control unit 22A. As a result, the speed information is updated. By driving and controlling the slave motor Mb, the position information is fed back to the position control unit 19B, the position information set by the position control unit 19B is updated, and the speed information is also fed back to the speed control unit 22B. Speed information is updated.
Further, the current values Ea and Ec flowing in the drive amplifiers 33A and 33B of the motor systems A and B are fed back to the current control units 30A and 30B to check the amount of current supplied to the motors Ma and Mb.

The synchronous control device 16 in the machine tool according to the present embodiment has the above-described configuration, and the operation thereof will be described next with reference to the flowchart shown in FIG.
In the machine control device 34, when the tool 3 mounted on the spindle 2 of the machine tool 1 is exchanged and used, an instruction to exchange with a specific tool 3 stored in the tool magazine 5 is given by operating means (not shown) ( Step 101). In response to this, driving of the master motor Ma and the slave motor Mb in the tool magazine 5 is instructed from the drive control means 17, and the motors Ma and Mb are driven synchronously to index and take out the pot 4 containing the specific tool 3. In order to move to the position P, the chain 7 is moved around.
That is, in each of the master motor system A and the slave motor system B, each position controller 19A, 19B uses a detector (not shown) or an encoder (not shown) provided on the master motor Ma to each motor Ma, Mb on the chain 7. The positional relationship with the pot 4 storing the tool 3 to be replaced is determined (step 102). This is output as a position signal to the speed controllers 22A and 22B and the synchronization error calculation means 21. In the master motor system A, the position error is multiplied by a correction coefficient 1 / K1 set in advance based on the drive structure of the tool magazine 5, the material and dimensions of the chain 7, the processing method, etc. in the coefficient correction means 20a. 21 is input as a position signal.

The synchronization error calculation means 21 calculates the difference between the position signals of the master motor system A and the slave motor system B to obtain a synchronization error signal (step 103), and the calculation speed error calculation means 25 in the correction value calculation means 23 input. The calculation speed error calculation means 25 calculates a speed error by calculation from the synchronization error signal.
On the other hand, in the speed control units 22A and 22B in the master motor system A and the slave motor system B, the chain of regions driven by the motors Ma and Mb and the motors Ma and Mb by feedback signals from the master motor Ma and the slave motor Mb. Set the speed of 7 respectively. The speed signals obtained by the speed control units 22A and 22B are input to the actual speed error calculating means 24 in the correction value calculating means 23 to calculate the actual speed error (step 105).
Next, the speed error by calculation and the actual speed error are input to the speed correction calculation means 26, and the speed error parameter data stored in advance in the memory 26a and the difference between the speed error by calculation and the actual speed error are calculated. A speed correction command value is obtained from the relationship (step 106).

The obtained speed correction command value is fed back to the speed controller 22B of the slave motor system B through an adder, and the speed of the slave motor Mb is corrected by a feedback signal from the slave motor Mb (step 107). Further, the speed correction command value is converted into a correction current value Ed and input to the comparison determination means 27.
The comparison determination means 27 determines whether or not the correction current value Ed is within a correction allowable value that can be added to a preset current value Eb flowing through the slave motor Mb (step 108). If the correction current value Ed exceeds the correction allowable value, an excessive current flows through the slave motor Mb, which may cause a short circuit, etc., so that the motors Ma and Mb are stopped as abnormal (step 109). When the correction current value Ed is within the range of the allowable correction value, it is assumed that the correction current value Ed is normal, and the coefficient correction means 27a multiplies the correction coefficient K2 and inputs it as the correction current value Ed 'to the current control unit 30B of the slave motor system B. To do.
On the other hand, in the master motor system A and the slave motor system B, the speed signals output from the speed control units 22A and 22B are converted into the current value Ea and the current value Eb by the current control units 30A and 30B. In the master motor system A, the current value Ea converted by the current control unit 30A is amplified by the amplifier 33A to drive the master motor Ma. In the slave motor system B, the correction current value Ed ′ is added to the current value Eb converted by the current control unit 30B (step 110), and the correction current value Ec is amplified by the amplifier 33B to drive the slave motor Mb (step 111). ).

In each of the amplifiers 33A and 33B, the current values Ea and Ec flowing through the motors Ma and Mb are fed back to the current control units 33A and 33B to check the amount of current. Moreover, the position information of the pot 4 storing the tool 3 to be replaced is fed back to the position control units 19A and 19B by the driven master motor Ma and slave motor Mb.
In this way, while the master motor Ma and the slave motor Mb are feedback-controlled, the correction current amount Ec is controlled so that the slave motor Mb is synchronously driven based on the drive of the master motor Ma, and the chain 7 is caused to make a circular motion. Then, the pot 4 storing the tool 3 to be replaced is moved to the take-out position P and stopped.

  As described above, according to the synchronous control device 16 of the chain-type tool magazine 5 according to the present embodiment, the synchronous drive is performed by adjusting the correction current amount Ec supplied to the slave motor Mb with reference to the drive of the master motor Ma. Thus, the fluctuation of the tension of the chain 7 can be suppressed and kept almost uniform, and the chain breakage and the overcurrent of the slave motor Mb can be suppressed. The tension and the acting force of the chain 7 of the tool magazine 5 driven by the master motor Ma and the slave motor Mb can be kept constant, and the chain 7, the motors Ma and Mb, and the amplifiers 33A and 33B can be protected. Accordingly, it is possible to prevent a temporary stop due to an overload of the motor in the tool magazine 5 for the automatic tool changer 6, and there is an effect that the indexing accuracy of the desired tool 3 in the tool magazine 5 can be maintained for a long time.

In the synchronous control device 16 according to the above-described embodiment, the speed correction command value calculated by the speed correction calculating means 26 is fed back to the speed control unit 22B of the slave motor system B to correct the speed of the slave motor Mb. The speed signal detected by the speed controller 22B on the slave motor Mb side can be approximated by the speed signal of the master motor Ma detected by the speed controller 22A of the master motor system A. For this reason, the corrected current value Ed obtained by calculating the speed correction command value by the speed correction calculating means 26 can be made relatively small, and can be controlled more reliably below the allowable correction value in the comparison determining means 27.
However, in the present invention, it is not always necessary to input the speed correction command value to the speed control unit 22B of the slave motor system B. Even in this case, since the correction current value Ed ′ corresponding to the speed correction command value is input to the current control unit 30B and added, the synchronous control of the slave motor Mb can be performed by feedback control as in the embodiment.

In the above-described embodiment, the comparison determination unit 27 for determining whether or not the correction current value is equal to or less than the correction allowable value is provided. However, depending on the setting of the speed error parameter in the memory 26a, the correction allowable value may be extremely exceeded. Since it is small, the comparison / determination means 27 and the protection circuit 31 may be omitted, and the current control unit 30B may be input via the coefficient correction means 29.
Moreover, although the above-mentioned embodiment demonstrated the synchronous control apparatus 16 of the chain 7 in the chain-type tool magazine 5 in the tool automatic change apparatus 6, this invention is not limited to such an apparatus, A chain-shaped member is used. The present invention can be applied to all devices that are driven by a plurality of drive sources. For example, it may be adopted for a tool magazine of a punch press.

It is explanatory drawing which shows the principal part of the automatic tool change apparatus of a machine tool and tool magazine by embodiment of this invention. It is a figure which shows the main axis | shaft of the automatic tool change apparatus shown in FIG. 1, and a machine tool. It is a front view of a chain type tool magazine. It is a block diagram of the synchronous control apparatus for moving the pot of a tool magazine to an extraction position. FIG. 5 is a block diagram showing a configuration of correction value calculation means in the synchronous control device shown in FIG. 4. It is a flowchart which shows the synchronous control for indexing the tool currently hold | maintained at the specific pot of the tool magazine.

Explanation of symbols

1 Machining center
2 Spindle
3 Tool 4 Pot 5 Tool magazine 6 Automatic tool changer 7 Chain 8 Tool changer 16 Synchronization controller 19A, 19B Position controller 21 Synchronization error calculator 22A, 22B Speed controller 23 Correction value calculator 24 Actual speed error calculator 25 Calculation speed error calculation means 26 Speed correction calculation means 27 Comparison determination means 30A, 30B Current control unit Ma Master motor (master side drive source)
Mb slave motor (slave side drive source)

Claims (6)

A master-side drive source and a slave-side drive source that drive a chain-shaped member that has a plurality of holders for transported objects are provided, and the chain-shaped member is moved by synchronously controlling the master-side drive source and the slave-side drive source. In the synchronous control device that transports the transported object,
A synchronization error calculating means for obtaining a position deviation from position information of the master side driving source and the slave side driving source and the conveyed product;
Calculation speed error calculation means for calculating a speed deviation by calculation of the master side drive source and the slave side drive source from the position deviation;
An actual speed error calculating means for obtaining an actual speed deviation from the speed information of the master side driving source and the slave side driving source;
The master side drive source and the slave side are obtained by calculating the speed correction command value of the slave side drive source from the speed deviation obtained by the calculation and the actual speed deviation and converting it to a correction current value and supplying it to the slave side drive source. A synchronous control device characterized in that a drive source is synchronously controlled.   The apparatus further comprises comparison determination means for determining whether or not the correction current value converted by the speed correction calculation means is equal to or less than a preset correction allowable value, and the correction current value is equal to or less than the correction allowable value. The synchronous control device according to claim 1, wherein the speed information obtained by the speed control unit of the slave side drive source is added to the converted current value.   The synchronous control device according to claim 1 or 2, wherein the speed information is corrected by inputting a speed correction command obtained by the speed correction calculating means to the speed control unit connected to a slave drive source.   4. The synchronous control device according to claim 1, wherein the correction current value output from the comparison determination unit is multiplied by a coefficient corresponding to the material and tension of the chain member by the coefficient correction unit.   A position control unit for determining position information of the master side drive source, the slave side drive source and the conveyed product, and a speed control unit for detecting speed information of the master side drive source and the slave side drive source, respectively. The synchronous control device according to claim 1.   The synchronous control device according to claim 1, wherein the conveyed product is a tool held by a chain member at a predetermined interval.

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