JPH06351279A - Synchronous operation system for pulse train input motor - Google Patents

Abstract

(57) [Abstract] [Purpose] It is intended to prevent the synchronous operation state of the main motor and the slave motor from being disturbed by noise on the command pulse of the motor. [Structure] A pulse Z ₁ for each revolution of the main motor, a pulse Z ₂ for each revolution of the slave motor, and pulses A ₂ and B _{2 for the} slave motor are input to detect a displacement amount of both motors by a displacement detection circuit 32. Then, the positional deviation amount obtained by integrating the difference between the frequencies of both electric motor pulses is corrected by this positional deviation detection amount. The misregistration detection circuit 32 includes flip-flops 51 and 52, AND elements 53 and 54, a quadrupling circuit 55, and an up / down counter 56, and increases the number of output pulses of the quadrupling circuit 55 corresponding to the misregistration detection amount. Alternatively, the counter is down-counted, and the position deviation amount is corrected with this.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a synchronous driving device for a pulse train input electric motor, which can drive a plurality of electric motors driven separately by a servo amplifier for inputting a pulse train signal in a synchronized state.

[0002]

2. Description of the Related Art FIG. 8 is a block circuit diagram showing a conventional example in which a servo amplifier for inputting a pulse train signal synchronously operates a plurality of electric motors, and shows a case where two electric motors drive a common load. There is. That is, the main motor 10 driven by the main servo amplifier 11 that converts the AC power from the AC power supply 2
And the slave electric motor 20 that is driven by the slave servo amplifier 21 that also converts the AC power from the AC power supply 2 drive the load 3 in cooperation. If there is a very slight difference between the rotation speed of the main motor 10 and the rotation speed of the slave motor 20, the load 3 will be twisted, so both motors must always be operated in synchronization.

That is, the main servo amplifier 11 inputs the command pulse A _* as the command A pulse and the command pulse B _* as the command B pulse, but these command pulses A _* and B _* have the same frequency, The command pulse B _* is delayed in phase by π / 2 from the command pulse A _* , and the frequency of these pulses corresponds to the value that commands the rotation speed of the main electric motor 10. On the other hand, the pulse encoder attached to the main motor 10 includes a main motor pulse A ₁ as a main feedback A pulse and a main motor pulse B ₁ as a main feedback B pulse.
Also, the main motor rotation pulse Z ₁ is output to the main servo amplifier 11. Here, the main motor pulses A ₁ and B ₁ have the same frequency, the phase of the main motor pulse B ₁ is π / 2 behind the main motor pulse A ₁ , and the frequency of these pulses is that of the main motor 10. It is a value corresponding to the rotation speed. Further, the main motor rotation pulse Z ₁ is a pulse output every time the main motor 10 makes one rotation. Therefore, the main servo amplifier 11 performs a control operation so that the frequencies of the main motor pulses A ₁ and B ₁ match the frequencies of the command pulses A _* and B _* , so that the rotation speed of the main motor 10 is maintained at the command value. You can Since the configuration and operation of the main servo amplifier 11 are the same as those of the sub servo amplifier 21 described later, the description thereof is omitted here.

The slave servo amplifier 21 has main motor pulses A ₁ and B ₁ returned from the main motor 10, and slave motor pulse A ₂ and slave feedback as a slave feedback A pulse from a pulse encoder attached to the slave motor 20. The slave motor pulse B ₂ as the B pulse and the slave motor rotation pulse Z ₂ are input. Here, the slave motor pulses A ₂ and B ₂ have the same frequency, the phase of the slave motor pulse B ₂ is π / 2 behind the slave motor pulse A ₂ , and the frequency of these pulses is that of the slave motor 20. It is a value corresponding to the rotation speed.
Further, the slave motor rotation pulse Z ₂ is a pulse output every time the slave motor 20 makes one rotation. So sub-servo amplifier 2
1 is the main motor pulses A ₁ and B returning from the main motor 10.
_With the frequency of ₁ as the command value, slave motor pulses A ₂ and B ₂
The frequency of is controlled to match this.

FIG. 9 is a block circuit diagram showing the configuration of the slave servo amplifier 21 shown in FIG. In the circuit of FIG. 9, the main motor pulse frequency calculation circuit 22 inputs the main motor pulse A ₁ and the main motor pulse B ₁ fed back from the main motor _10, and calculates the main motor pulse frequency f ₁ . On the other hand, the slave motor pulse frequency calculation circuit 23 inputs the slave motor pulse A ₂ and the slave motor pulse B ₂ which are fed back from the slave motor _20, and outputs the slave motor pulse frequency f ₂ . The sub-integrator 24 integrates the deviation between the main motor pulse frequency f ₁ and the sub-motor pulse frequency f ₂ and outputs the position deviation amount as the calculation result to the sub-position adjuster 25.
The slave position adjuster 25 outputs a speed command value that makes the input position deviation amount zero by the adjusting operation. The slave speed control circuit 26 includes a speed controller, a current controller, and the like (not shown), and outputs a control signal that causes the slave motor speed detection value fed back from the slave motor 20 to match the speed command value. However, since the configuration and operation of the slave speed control circuit 26 are not related to the present invention, the illustration and description of that part are omitted.

From the above description, the slave servo amplifier 21 having the configuration shown in FIG. 9 replaces the slave motor 20 with the main motor 1.
Since the operation is synchronized with 0, there is no fear that the load 3 will be twisted or the electric motor will be overloaded.

[0007]

However, in the conventional circuit described above with reference to FIG. 8, when the main servo amplifier 11 and the slave servo amplifier 21 are installed at positions separated from each other, the main motor pulse A ₁ and the main motor pulse are The line for transmitting the pulse B ₁ becomes long, which may cause noise in the transmission signal. For example, main motor pulses A ₁ and B input to the slave servo amplifier 21
_If noise is superimposed on ₁ and the number of pulses becomes larger than the actual number of pulses, the main motor pulses A ₁ and B ₁ are command pulses for the slave motor 20, and accordingly, the slave motor 20 correspondingly. Rotation speed of the main motor 1
A position shift occurs with 0. That is, the load 3 is twisted. Alternatively, if the number of pulses of the main motor pulses A ₁ and B ₁ becomes smaller than the actual number of pulses due to noise, the rotation speed of the slave motor 20 correspondingly decreases, and between the main motor 10 and the main motor 10, the aforementioned This causes a positional deviation in the direction opposite to the above, and causes a problem that the load 3 is twisted in the opposite direction.

As described above, each time noise is superimposed, the displacement between the main motor 10 and the slave motor 20 gradually increases to increase the deformation of the load 3, and the torques of the main motor 10 and the slave motor 20 are increased. It causes an increase and an overload trip. Therefore, it is an object of the present invention to prevent noise from being generated in the command pulse of the electric motor and disruption of the synchronous operation state of the main electric motor and the slave electric motor.

[0009]

In order to achieve the above object, a synchronous operation device for a pulse train input motor according to the present invention comprises:
A command pulse frequency calculating means for calculating a command pulse frequency by inputting a command A pulse having a high frequency and a command B pulse having the same frequency as the command A pulse and a phase delayed by π / 2 The main feedback A pulse having a frequency corresponding to the rotation speed of the main motor to be output and the main feedback B pulse whose phase is delayed by π / 2 at the same frequency as the main feedback A pulse are input to input the main feedback pulse. , A main feedback pulse frequency calculation means, a main integration means for integrating the deviation between the command pulse frequency and the main feedback pulse frequency and outputting a position deviation signal, and a speed command by inputting this position deviation signal. A main servo amplifier is constituted by main position adjusting means for outputting a signal and main speed control means for controlling the rotation speed of the main motor to match the speed command signal, and before the main motor outputs the main servo amplifier. Main feedback pulse frequency calculating means for calculating the frequency of the main feedback pulse by inputting the main feedback A pulse and the main feedback B pulse, and the slave feedback A pulse of a frequency corresponding to the rotation speed of the slave motor output by the slave motor. And a slave feedback B pulse whose phase is delayed by π / 2 at the same frequency as the slave feedback A pulse, and calculates the frequency of the slave feedback pulse, and a slave feedback pulse frequency calculating means, and these main feedback pulses. A sub-integrating means for integrating a deviation between the frequency and the sub-feedback pulse frequency to output a position deviation signal, a sub-position adjusting means for inputting the position deviation signal and outputting a speed command signal, and a rotation speed of the sub-motor. To the speed command signal to form a slave servo amplifier, and the slave servo amplifier is configured to include a main motor driven by the main servo amplifier and a slave motor driven by the slave servo amplifier. In a synchronous operation device for a pulse train input electric motor that is brought into a stationary operation state, a main feedback Z pulse output every one rotation of the main motor, a sub feedback Z pulse output every one rotation of the slave motor, and the slave feedback A. A position deviation detecting means for inputting a pulse and the auxiliary feedback B pulse to detect an amount of positional deviation between the main motor and the auxiliary motor, and the positional deviation detection amount and the position deviation signal output by the auxiliary integrating means are added. And a calculation result of the position deviation amount adding means, which is input to the slave position adjusting means as a corrected position deviation signal.

Alternatively, the main feedback Z pulse output each time the main motor rotates once, the slave feedback Z pulse output each time the slave motor rotates one time, the slave feedback A pulse, and the slave feedback B pulse are input. Then, the positional deviation detecting means for detecting the positional deviation amount between the main electric motor and the slave electric motor, the synchronous operation command means for instructing the time when the main electric motor and the auxiliary electric motor start the synchronous operation, and the synchronous operation command issuing time An offset amount adding means for performing a calculation for subtracting the difference between the main motor and the slave motor as an offset amount from the positional deviation detection amount output by the positional deviation detecting means, and the calculation result of the offset amount adding means and the sub-integrating means. Position deviation signal adding means for adding the position deviation signal to the sub position adjusting means as a corrected position deviation signal. It is assumed that the cause.

[0011]

In the prior art, the main motor pulse frequency f ₁ obtained from the pulse train signals A ₁ and B ₁ output from the pulse encoder of the main motor and the pulse train signals A ₂ and B ₂ output from the pulse encoder of the slave motor were obtained. The position deviation amount is calculated by integrating the deviation from the pulse frequency f ₂ of the electric motor. As described above, if noise is superimposed on the pulse train signals A ₁ and B ₁ of the main motor, an error occurs in the position deviation amount. . Therefore, according to the present invention, the amount of misregistration detection is calculated from the main motor rotation pulse Z ₁ and the slave motor rotation pulse Z ₂ generated for each rotation of the motor, and the pulse train signals A ₂ and B _{2 of the} slave motor, and the above error is calculated. The positional deviation amount is corrected by adding the positional deviation detection amount to the included positional deviation amount, and the error is removed. If this addition operation result is input to the position controller, the position controller outputs an appropriate speed command value. Since the slave motor uses this as the speed command value, it is possible to prevent the positional deviation from occurring between the main motor and the slave motor even if the number of pulses changes due to noise.

[0012]

FIG. 1 is a block circuit diagram showing the principle of the first embodiment of the present invention. The AC power supply 2 shown in FIG.
Since the names, applications, and functions of the load 3, the main motor 10, the main servo amplifier 11, and the slave motor 20 are the same as those of the conventional circuit described above with reference to FIG. 8, their description will be omitted. This Figure 1
In the above circuit, the main servo amplifier 11 outputs the main motor pulse A ₁ and the main motor pulse B ₁ as well as the main motor rotation pulse Z.
_{The fact that 1} is output and that the slave servo amplifier 31 inputs the main motor rotation pulse Z ₁ in addition to the main motor pulse A ₁ and the main motor pulse B ₁ are different from the conventional example circuit shown in FIG. Is different.

FIG. 2 is a block circuit diagram showing the details of the first embodiment of the present invention and showing the configuration of the slave servo amplifier 31 shown in FIG. 1, and corresponds to claim 1. The main motor pulse frequency calculation circuit 22, the slave motor pulse frequency calculation circuit 23, the slave integrator 24, the slave position adjuster 25, and the slave speed control circuit 26 shown in the detailed circuit of the first embodiment of FIG. The names, uses, and functions of are the same as those in the case of the conventional circuit described in FIG.

According to the present invention, the main motor rotation pulse Z ₁ , the slave motor rotation pulse Z ₂ , the slave motor pulse A ₂ and the slave motor pulse B ₂ are input, and the position shift detection circuit 32 outputs the position shift detection amount. A position deviation amount adder 33 that adds the position deviation amount output from the sub-integrator 24 and the above-described position deviation detection amount is provided, and the addition result of the position deviation amount adder 33 is used as a new position deviation amount. Since the configuration is provided to the position adjuster 25, the position deviations of both electric motors are detected by the slave position adjuster 2
It can be made zero by the adjusting operation of 5. If a comparator 34 that operates when the amount of positional deviation output from the positional deviation detection circuit 32 exceeds a predetermined value is provided, a signal that warns that the amount of positional deviation has become excessive can be obtained.

FIG. 3 is a block circuit diagram showing the configuration of the positional deviation detection circuit 32 described in the detailed circuit of the first embodiment of FIG. 2, and corresponds to claim 2. In this FIG.
Main flip-flop 51 composed of D flip-flops
Outputs a main toggle waveform S ₁ whose state is inverted every time the main motor rotation pulse Z ₁ is input. Similarly, the slave flip-flop 52 composed of a D flip-flop also outputs a slave toggle waveform S ₂ whose state is inverted every time the slave motor rotation pulse Z ₂ is input. The main logical product element 53 calculates the logical product of the main toggle waveform S ₁ and the inverted signal of the sub toggle waveform S ₂ and outputs the logical signal S ₃ , and the sub logical product element 54 outputs the inverted signal of the main toggle waveform S ₁ . And a sub-toggle waveform S ₂ are calculated and a logical signal S ₄ is output. On the other hand, the quadrupling circuit 55
Inputs the slave motor pulses A ₂ and B ₂ and outputs the pulse train signal S ₅ having the rising time and the falling time of both pulses as the pulse generation time. Therefore, the pulse train signal S ₅
Is 4 times the frequency of the slave motor pulse A ₂ or B ₂ .

The up-down counter 56 inputs the logic signal S ₃ output from the main AND element 53 to the up-count terminal and the logic signal S ₄ output from the slave AND element 54 to the down-count terminal for quadruple multiplication. The pulse train signal S ₅ output from the circuit 55 is input to the clock terminal, and the clear signal is input to the clear terminal from the computer 58. The output of the up / down counter 56 is given to the computer 58 via the data bus 57. It is configured to be.

FIG. 4 shows the positional deviation detection circuit 32 shown in FIG.
2 is a time chart showing the operation of the slave electric motor 20.
4 is the main motor rotation pulse Z ₁ , FIG. 4 is the slave motor rotation pulse Z ₂ , and FIG. 4 is the main toggle waveform S ₁ output by the main flip-flop 51. 4 shows a sub-toggle waveform S ₂ output from the sub-flip-flop 52, FIG. 4 shows a logical signal S ₃ output from the main AND element 53, and FIG. 4 shows a sub-toggle waveform S ₂ output from the sub-AND element 54. Reference numeral 4 represents a pulse train signal S ₅ output from the quadrupling circuit 55, FIG. 4 represents a signal on the data bus 57, and FIG. 4 represents a clear signal input to the up / down counter 56.

As is apparent from FIG. 4, the main motor 10
The slave motor 20 is out of sync with the delay,
When the up / down counter 56 counts up the number of pulse train signals S ₅ during the shift period and this count number n is output to the data bus 57, a clear signal from the computer 58 clears the subsequent counting operation. At the same time, this is given to the positional deviation amount adder 33 of FIG.
Both position deviations output from the sub-integrator 24 are corrected.

The positional deviation detection circuit 32 shown in FIG. 3 is also shown in FIG.
2 is a time chart showing the operation of the slave electric motor 20.
Is a case where the position shift occurs in the advancing direction.
The items (1) to (4) described in the time chart of (1) are the same as the items (1) described in the time chart of FIG. In FIG. 5, the slave motor 20 is out of synchronization with respect to the main motor 10 in the forward direction, and the up-down counter 56 down-counts the number of the pulse train signals S ₅ during the deviation period as in FIG. Is a different point.

FIG. 6 is a block circuit diagram showing the principle of the second embodiment of the present invention. The AC power source 2, the load 3, the main motor 10, the main servo amplifier 11, and the slave motor shown in FIG. The name, application, and function of 20 are the same as the principle circuit of the first embodiment described above with reference to FIG.
It outputs the main motor rotation pulse Z ₁ in addition to the main motor pulse A ₁ and the main motor pulse B ₁ , which is also the same as the principle circuit of the first embodiment described in FIG. Is omitted. The principle circuit of the second embodiment of FIG. 6 is provided with a slave servo amplifier 41 for inputting a signal from the synchronous operation command contact 42, which is different from the circuit described in FIG.

FIG. 7 is a block circuit diagram showing the details of the second embodiment of the present invention and showing the configuration of the slave servo amplifier 41 shown in FIG. 6, and corresponds to claim 3. The main motor pulse frequency calculation circuit 22 and the slave motor pulse frequency calculation circuit 2 shown in the detailed circuit of the second embodiment of FIG.
3, the names, uses, and functions of the sub-integrator 24, the sub-position adjuster 25, the sub-speed control circuit 26, the positional deviation detection circuit 32, the positional deviation amount adder 33, and the comparator 34 are the same as those of the first embodiment already described in FIG. Since the example is the same as the case of the detailed circuit, description thereof will be omitted.

In the present invention, when a signal for starting the synchronous operation is given to the slave servo amplifier 41 by the synchronous operation command contact 42 shown in FIG. 6, the first positional deviation is shown as an offset amount inside the slave servo amplifier 41. Not stored in the storage element. Thereafter, the offset amount adder 43 is input to the offset amount adder 43 shown in FIG. 7, and the offset amount adder 43 performs an operation of subtracting the offset amount from the positional shift amount output from the position shift detection circuit 32. . This calculation result is given to the positional deviation amount adder 33 to correct the positional deviation amount output from the sub-integrator 24.

[0023]

[Effects of the Invention] When noise is superimposed on the pulse train signal when a common load is driven synchronously by a plurality of electric motors driven by a servo amplifier for inputting the pulse train signal, the frequency of the pulse train that becomes the speed command value and the electric motor. There is a difference in the frequency of the pulse train fed back from. Since the synchronous operation state of each electric motor is maintained by the control to match the frequency of the pulse train fed back to the frequency of the command pulse train, each electric motor cannot maintain the synchronous operation state if there is a difference in frequency. If the synchronous operation state cannot be maintained, the load may be twisted or the motor may trip due to overload. However, in the present invention, a positional deviation detection circuit for detecting the positional deviation amount by the A pulse, the B pulse, and the Z pulse generated for each rotation of the electric motor is provided, and the positional deviation obtained by comparing the frequencies of the pulse trains described above. In addition, since the positional deviation detection amount is added and corrected, when driving a common load with a plurality of electric motors, it is possible to prevent positional deviation between the electric motors due to noise or the like. Since it can be prevented, it is possible to prevent the occurrence of the inconvenience that the load is twisted due to the displacement and the inconvenience of overload trip of the electric motor occurs.

[Brief description of drawings]

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

FIG. 2 is a block circuit diagram showing the details of the first embodiment of the present invention and showing the configuration of a slave servo amplifier 31 shown in FIG.

FIG. 3 is a block circuit diagram showing a configuration of a position shift detection circuit 32 described in the detailed circuit of the first embodiment of FIG.

FIG. 4 is a time chart showing the operation of the positional deviation detection circuit 32 shown in FIG.

5 is a time chart showing the operation of the positional deviation detection circuit 32 shown in FIG.

FIG. 6 is a block circuit diagram showing the principle of the second embodiment of the present invention.

FIG. 7 is a block circuit diagram showing the details of the second embodiment of the present invention and showing the configuration of the slave servo amplifier 41 shown in FIG.

FIG. 8 is a block circuit diagram showing a conventional example in which a servo amplifier that inputs a pulse train signal synchronously operates a plurality of electric motors.

9 is a block circuit diagram showing a configuration of a slave servo amplifier 21 shown in FIG.

[Explanation of symbols]

2 AC power supply 3 Load 10 Main motor 11 Main servo amplifier 20 Slave motor 21, 31, 41 Slave servo amplifier 22 Main motor pulse frequency calculation circuit 23 Slave motor pulse frequency calculation circuit 24 Slave integrator 25 Slave position controller 26 Slave speed control Circuit 32 Position deviation detection circuit 33 Position deviation amount adder 34 Comparator 42 Synchronous operation command contact 43 Offset amount adder 51 Main flip-flop 52 Slave flip-flop 53 Main AND element 54 Slave AND element 55 Quadrupling circuit 56 Up-down counter 57 Data bus 58 Computer A ₁ Main motor pulse B ₁ Main motor pulse Z ₁ Main motor rotation pulse A ₂ Slave motor pulse B ₂ Slave motor pulse Z ₂ Slave motor rotation pulse

Claims (4)

[Claims] 1. A command pulse frequency calculating means for calculating a frequency of a command pulse by inputting a command A pulse having a high frequency and a command B pulse having the same frequency as the command A pulse and a phase delayed by π / 2. And a main feedback A pulse of a frequency corresponding to the rotation speed of the main motor output by the main motor, and a main feedback B pulse of the same frequency as the main feedback A pulse but delayed in phase by π / 2. The main feedback pulse frequency calculating means for calculating the frequency of the main feedback pulse, the main integrating means for integrating the deviation between the command pulse frequency and the main feedback pulse frequency and outputting the position deviation signal, and the position deviation signal A main servo amplifier is composed of main position adjusting means for inputting and outputting a speed command signal, and main speed controlling means for controlling the rotation speed of the main motor to match the speed command signal. The main feedback A pulse and the main feedback B outputs
The main feedback pulse frequency calculating means for calculating the frequency of the main feedback pulse by inputting the pulse, the slave feedback A pulse of the frequency corresponding to the rotation speed of the slave motor output by the slave motor, and the slave feedback A pulse. Of the sub feedback pulse frequency calculation means for calculating the frequency of the sub feedback pulse by inputting the sub feedback B pulse whose phase is delayed by π / 2 at the same frequency, and the main feedback pulse frequency and the sub feedback pulse frequency. Secondary integration means for integrating the deviation and outputting a position deviation signal, secondary position adjusting means for inputting the position deviation signal and outputting a speed command signal, and matching the rotational speed of the slave motor with the speed command signal. A sub-servo amplifier is configured with a sub-speed control means for controlling, and a pulse for bringing a main motor driven by the main servo amplifier and a sub-motor driven by the slave servo amplifier into a synchronous operation state. In a synchronous operation device for an input electric motor, a main feedback Z pulse output every one rotation of the main motor, a sub feedback Z pulse output each time the sub electric motor makes one rotation, the sub feedback A pulse, and the sub feedback B. Position deviation detecting means for inputting a pulse to detect the positional deviation amount between the main electric motor and the side electric motor, and positional deviation amount adding means for adding the positional deviation detection amount and the positional deviation signal output by the sub-integrating means. And the operation result of the position deviation amount adding means is input to the slave position adjusting means as a corrected position deviation signal. 2. The synchronous operation device for a pulse train input motor according to claim 1, wherein the position deviation detecting means outputs a main toggle waveform obtained by reversing the state each time the main feedback Z pulse is input. The logical product of the main flip-flop, the sub flip-flop that outputs a sub toggle waveform obtained by inverting the state every time the sub feedback Z pulse is input, and the main toggle waveform and the inverted signal of the sub toggle waveform are calculated. The frequency is 4 by inputting the main AND element, the slave AND element that calculates the logical product of the inverted signal of the main toggle waveform and the slave toggle waveform, and the slave feedback A pulse and the slave feedback B pulse. A quadrupling means for outputting a double pulse train signal, the main AND element output signal is input to an up-count terminal and the slave AND element output signal is input to a down-count terminal, and a quadrupling means output signal Synchronization of a pulse train input motor characterized by comprising an up-down counter and a computer for inputting to a clock terminal and outputting a signal corresponding to the relative position between the main motor position and the slave motor position and the positional deviation amount. Driving device. 3. A command pulse frequency calculating means for calculating the frequency of a command pulse by inputting a command A pulse having a high frequency and a command B pulse having the same frequency as the command A pulse and a phase delayed by π / 2. And a main feedback A pulse of a frequency corresponding to the rotation speed of the main motor output by the main motor, and a main feedback B pulse of the same frequency as the main feedback A pulse but delayed in phase by π / 2. The main feedback pulse frequency calculating means for calculating the frequency of the main feedback pulse, the main integrating means for integrating the deviation between the command pulse frequency and the main feedback pulse frequency and outputting the position deviation signal, and the position deviation signal A main servo amplifier is composed of main position adjusting means for inputting and outputting a speed command signal, and main speed controlling means for controlling the rotation speed of the main motor to match the speed command signal. The main feedback A pulse and the main feedback B outputs
The main feedback pulse frequency calculating means for calculating the frequency of the main feedback pulse by inputting the pulse, the slave feedback A pulse of the frequency corresponding to the rotation speed of the slave motor output by the slave motor, and the slave feedback A pulse. Of the sub feedback pulse frequency calculation means for calculating the frequency of the sub feedback pulse by inputting the sub feedback B pulse whose phase is delayed by π / 2 at the same frequency, and the main feedback pulse frequency and the normal feedback pulse frequency. Secondary integration means for integrating the deviation and outputting a position deviation signal, secondary position adjusting means for inputting the position deviation signal and outputting a speed command signal, and matching the rotational speed of the slave motor with the speed command signal. A sub-servo amplifier is configured with a sub-speed control means for controlling, and a pulse for bringing a main motor driven by the main servo amplifier and a sub-motor driven by the slave servo amplifier into a synchronous operation state. In a synchronous operation device for an input electric motor, a main feedback Z pulse output every one rotation of the main motor, a sub feedback Z pulse output each time the sub electric motor makes one rotation, the sub feedback A pulse, and the sub feedback B. Position deviation detection means for inputting a pulse to detect the amount of positional deviation between the main motor and the slave motor, a synchronous operation command means for instructing a time point at which the main motor and the slave motor start synchronous operation, and this synchronous operation An offset amount adding means for performing a calculation for subtracting the difference between the main motor and the slave motor at the time of the command issuance as an offset amount from the positional deviation detection amount output by the positional deviation detecting means, the calculation result of the offset amount adding means and the auxiliary A positional deviation amount adding means for adding the positional deviation signal output from the integrating means, and the calculation result of the positional deviation amount adding means is used as the corrected positional deviation signal. Synchronous operation apparatus of the pulse train input motor for causing the input to the location regulating means. 4. The pulse train input motor synchronous driving apparatus according to claim 3, wherein the position deviation detecting means outputs a main toggle waveform obtained by reversing the state each time the main feedback Z pulse is input. The logical product of the main flip-flop, the sub flip-flop that outputs a sub toggle waveform obtained by inverting the state every time the sub feedback Z pulse is input, and the main toggle waveform and the inverted signal of the sub toggle waveform are calculated. The main AND element, the slave AND element for calculating the logical product of the inverted signal of the main toggle waveform and the slave toggle waveform, and the slave feedback A pulse and the slave feedback B pulse are input, and the frequency is quadrupled. A quadrupling means for outputting a pulse train signal, the main AND element output signal is input to an up-count terminal, the slave AND element output signal is input to a down-count terminal, and the quadrature-mean output signal is clocked. A pulse train characterized by comprising an up-down counter and a computer for inputting to a terminal and outputting a signal of polarity and magnitude corresponding to the relative position between the main motor position and the slave motor position and the amount of positional deviation. Synchronous operation device for input motor.