A servo actuator controlling system includes a master controller and a number of servo actuators coupled to at least one interface of the master controller. The master controller includes a master MCU and a number of interfaces connected to the master MCU via a first bus. Each servo actuator includes a servo MCU, a first interface coupled to the servo MCU via a second bus, a second interface coupled the first Interface and the serve MCU, a first servo switch connected between the first interface and the servo MCU, and a second servo switch connected between the second interface and the servo MCU. The first servo switch is set to turn on or off the first interface and the second servo switch is set to turn on or off the second interface.

A servo control apparatus which includes: a difference calculation unit that calculates difference between an integral value of speed deviation of a master axis and an integral value of speed deviation of a slave axis; a filter unit that performs filtering of the difference by way of a low-pass filter; and an addition unit that adds a result of the filtering to the integral value of the speed deviation of the slave axis, in which a current command for driving the master-axis motor is calculated for the master axis by using the integral value of the speed deviation of the master axis; and a current command for driving the slave-axis motor is calculated for the slave axis by using an integral value after addition by way of the addition unit.

Provided are: a position command calculation unit which calculates a position command specifying a target position of a driven body driven by a servomotor; a counterforce command. calculation unit which calculates a counterforce command specifying a target, counterforce which should be received by the driven body; a position acquisition unit which acquires an actual position of the driven body; a position reference drive control unit which generates a position reference drive signal so as to bring the position nearer the target position; a counterforce acquisition unit which acquires a counterforce being received by the driven body; a counterforce reference drive control unit which generates a counterforce reference drive signal so as to bring the counterforce nearer the target counterforce; and a drive signal selection unit which selects either one of the position reference drive signal and the counterforce reference drive signal; in which the position command calculation unit calculates the position command so that the target position becomes a second order or higher relationship relative to time, and the counterforce command calculation unit calculates the counterforce command so that a relationship between the target counterforce and the target position becomes substantially linear.

Provided are: a position command calculation unit which calculates a position command specifying a target position of a driven body driven by a servomotor; a counterforce comm and. calculation unit which calculates a counterforce command specifying a target, counterforce which should be received by the driven body; a position acquisition unit which acquires an actual position of the driven body; a position reference drive control unit which generates a position reference drive signal so as to bring the position nearer the target position; a counterforce acquisition unit which acquires a counterforce being received by the driven body; a counterforce reference drive control unit which generates a counterforce reference drive signal so as to bring the counterforce nearer the target counterforce; and a drive signal selection unit which selects either one of the position reference drive signal and the counterforce reference drive signal; in which the position command calculation unit calculates the position command so that the target position becomes a second order or higher relationship relative to time, and the counterforce command calculation unit calculates the counterforce command so that a relationship between the target counterforce and the target position becomes substantially linear.

The present disclosure provides duplicate servo ID detection methods and a servo for a robot. One of the method includes: transmitting, by the main controller, a query instruction including a specific servo ID to at least two of the servos of the robot through a bus; differentiating feedback information replied by at least two of the servos corresponding to the specific servo ID; and determining, by the main controller, there being at least two of the servos with the same servo ID, if the feedback information not meeting a predetermined verification rule is received. Through the technical solution provided by this embodiment, the detection of duplicate servo ID can be realized, and the servos on the bus that have the same servo ID can be found so us to remind the user of the robot, thereby guaranteeing the normal operation of the robot.

A first drive operates directly on a machine element, whereas a second drive operates on a machine element via a speed-changing device. A position controller receives a position setpoint value and a position actual value of the machine element and determines therefrom a speed setpoint value for the machine element. A first determining device receives the speed setpoint value and determines a resulting speed setpoint value using the speed setpoint value. A first speed controller determines a first force setpoint value from the resulting speed setpoint value and the speed actual value of the machine element and controls the first drive depending on the first force setpoint value. A second speed controller determines a second force setpoint value from the resulting speed setpoint value and the speed actual value of the second drive and controls the second drive depending on the force setpoint value.

A servo actuator ID setting method is performed by a servo actuator controlling system. The servo actuator controlling system includes a master controller and a plurality of servo actuators. One servo actuator is set to disconnect to a next servo actuator. A plurality of interfaces of the master controller are selected to turn on in sequence. The following steps are repeatedly performed to set servo actuator ID: broadcasting a signal to replace an original ID of each of the plurality of servo actuators with a target ID; the plurality of servo actuators in each branch connecting to the master controller; and replacing the original ID of each of the plurality servo actuator with the target ID.

A controller capable of transmitting and receiving an input signal from a drive circuit corresponding to a moving device, a mounting head, or the like of an electronic component mounting machine or an output signal to the drive circuit for each predetermined period (A/2), in which the controller computes an output signal based on an input signal which is received before the predetermined period, stores the output signal for a time greater than or equal to the predetermined period, and subsequently transmits the output signal to the drive circuit. It becomes possible to set a time (a delay time) from when an input signal is output until an output signal reaches a drive circuit to an arbitrary length by adjusting the storage time.

A servo control apparatus which includes: a difference calculation unit that calculates difference between an integral value of speed deviation of a master axis and an integral value of speed deviation of a slave axis; a filter unit that performs filtering of the difference by way of a low-pass filter; and an addition unit that adds a result of the filtering to the integral value of the speed deviation of the slave axis, in which a current command for driving the master-axis motor is calculated for the master axis by using the integral value of the speed deviation of the master axis; and a current command for driving the slave-axis motor is calculated for the slave axis by using an integral value after addition by way of the addition unit.

A method for controlling a manipulator system including a manipulator, several drives and a mobile platform A first converter for actuating at least two of the several drives is associated with the manipulator system. The method includes the steps of: a) identifying one of the drives of the manipulator system that is associated with the first converter and that must be used to travel over a current planned movement path of the manipulator system, and (b) actuating the one identified associated drive by means of the first converter, where the actuated drive is used for the manipulator system to travel over the planned movement path. One of the at least two drives that is not being actuated is stationary preferably fixed or secured by a mechanical brake.