A gantry drive system includes: a first motor configured to drive a driving object along a first axis; a second motor configured to drive the driving object along a second axis parallel with the first axis; and a motor control system configured to control the first and second motors. The motor control system includes a mode switch that performs a switching between a first control mode in which a position of the driving object on each of the first and second axes is individually controlled while reducing an inter-axis positional deviation between the first and second axes, and a second control mode in which a rotational state of the driving object is controlled while controlling a position of the driving object, based on detected positions of the driving object on the first and second axes.

A method for synchronous control of a gantry mechanism with online inertia matching is applicable to a machine tool equipped with a gantry mechanism. The gantry mechanism includes two rails, a crossbeam and a saddle, in which the saddle is disposed on the crossbeam, and the crossbeam is disposed by crossing the two rails. Each of the two rails is furnished with a driving apparatus for synchronously driving the crossbeam, and the driving apparatus includes a drive motor and a lead screw. This method includes the steps of: obtaining gantry-mechanism information; detecting position information of the saddle on the crossbeam; evaluating the position information and the gantry-mechanism information to derive load-inertia variety information; and, evaluating the load-inertia variety information to adjust torque-output information of the drive motor corresponding to the respective driving apparatus.

A method for synchronous control of a gantry mechanism with online inertia matching is applicable to a machine tool equipped with a gantry mechanism. The gantry mechanism includes two rails, a crossbeam and a saddle, in which the saddle is disposed on the crossbeam, and the crossbeam is disposed by crossing the two rails. Each of the two rails is furnished with a driving apparatus for synchronously driving the crossbeam, and the driving apparatus includes a drive motor and a lead screw. This method includes the steps of: obtaining gantry-mechanism information; detecting position information of the saddle on the crossbeam; evaluating the position information and the gantry-mechanism information to derive load-inertia variety information; and, evaluating the load-inertia variety information to adjust torque-output information of the drive motor corresponding to the respective driving apparatus.

A numerical controller, which is configured to correct a machine position error based on a torque difference between a master axis and a slave axis, acquires the torque difference after movement of the master and slave axes that move in response to a movement command, and corrects the machine position error by a correction amount based on a value obtained by excluding a torque difference derived from a mechanical strain from the acquired torque difference. The corrected machine position error is added to the movement command for next time.

A numerical controller, which is configured to correct a machine position error based on a torque difference between a master axis and a slave axis, acquires the torque difference after movement of the master and slave axes that move in response to a movement command, and corrects the machine position error by a correction amount based on a value obtained by excluding a torque difference derived from a mechanical strain from the acquired torque difference. The corrected machine position error is added to the movement command for next time.

An apparatus includes a rigid frame or girder system, a first computer controlled motion system associated with the rigid frame or girder system and configured to move in coordinated positions, a second computer controlled motion system associated with a part to be worked on and configured to move in coordinated positions, and a plurality of sensors associated with the first motion system and the second motion system. The first computer controlled motion system and the second computer controlled motion system use information from the plurality of sensors to assist in coordination between the first computer controlled motion system and the second computer controlled motion system.

A numerical controller performs cross-rail axis control that distributes moving amount to a first and second axes based on a command to a virtual axis. If a block of a program that is read out contains a fast feed command to the virtual axis for moving a tool to a cutting feed start point, the numerical controller distributes a moving amount commanded by the fast feed command to the first axis and the second axis. Further, the moving amount commanded by the fast feed command is distributed to the first axis and the second axis so that movement of the virtual axis commanded by a cutting feed command that follows the fast feed command in the program can be achieved by movement of only the first axis.

A gantry drive system includes: a first motor configured to drive a driving object along a first axis; a second motor configured to drive the driving object along a second axis parallel with the first axis; and a motor control system configured to control the first and second motors. The motor control system includes a mode switch that performs a switching between a first control mode in which a position of the driving object on each of the first and second axes is individually controlled while reducing an inter-axis positional deviation between the first and second axes, and a second control mode in which a rotational state of the driving object is controlled while controlling a position of the driving object, based on detected positions of the driving object on the first and second axes.

A numerical controller performs cross-rail axis control that distributes moving amount to a first and second axes based on a command to a virtual axis. If a block of a program that is read out contains a fast feed command to the virtual axis for moving a tool to a cutting feed start point, the numerical controller distributes a moving amount commanded by the fast feed command to the first axis and the second axis. Further, the moving amount commanded by the fast feed command is distributed to the first axis and the second axis so that movement of the virtual axis commanded by a cutting feed command that follows the fast feed command in the program can be achieved by movement of only the first axis.