By controlling an operation of one reference axis using a control program, a controller operates another axis in synchronization with the reference axis. The controller generates shift information indicating an operation timing of another axis with respect to the reference axis, and determines a timing of outputting a movement amount related to each of the plurality of axes according to the generated shift information. Then, the controller outputs a movement amount of an axis, for which it is determined that it is a timing to output the movement amount, and buffers a movement amount of an axis, for which it is determined that it is not a timing to output the movement amount.

When change amount information calculated by a change amount information calculating unit satisfies a start condition and a signal condition is true for an operation instruction the start condition and the signal condition of which are defined, an operation instruction execution control unit determines a start of the corresponding operation instruction and determines operation completion based on a completion condition determined in advance of the operation instruction. An operation instruction executing unit executes the operation instruction the start of which is determined by the operation instruction execution control unit and stops the operation instruction when the operation completion is determined by the operation instruction execution control unit.

A synchronous control device (10) includes a spindle control part (11a) and a driven shaft control part (11b). The driven shaft control part (11b) includes a driven shaft command position variation suppression part (114) which generates as a driven shaft command phase (Ps) a projected driven shaft command phase obtained by adding an advance angle amount (Pa) corresponding to a spindle speed to a spindle phase (Pm) in a case where a sign of the spindle speed is reverse from a previous period, and generates as the driven shaft command phase (Ps) a value in which a sign of a shift from the driven shaft command phase in the previous period is not reverse from the sign of the spindle speed in a predetermined case where the sign of the spindle speed is not reverse from the previous period.

Provided is a method for identifying a disturbance component, including: when a vibration frequency included in a position deviation or a synchronization error between a tool axis and a workpiece axis is defined as fd, and a sampling frequency of a sampling period, which is a time from when a tool cuts a single tooth trace on a workpiece until the tool again cuts the same tooth trace, is defined as Fs, determining a frequency Fa of undulation in a tooth trace direction from a formula:
Fa=MIN|fd−N×Fs|, where N is a natural number, calculating a pitch of undulation in the tooth trace direction using the formula and a speed of the tool axis in a feed direction; and when the calculated pitch and a measured value of the pitch match, determining that fd is the disturbance component.

A motor control system includes motor control devices and a controller. The controller generates and transmits a communication signal including an operation command to the respective motor control devices. The motor control devices include two motor control devices in a first group, each of which includes a data transceiver, a motor controller, a corrector, and a synchronous timing generator, and a motor control device in a second group. The data transceiver receives an operation command issued to the motor control device, and receives operation information in the motor control device in the second group. Based on the operation command, the motor controller generates a torque command signal. The corrector generates a torque correction signal based on the operation information, and corrects the torque command signal. The synchronous timing generator generates a timing signal that matches pieces of process timing of the motor controllers in the first group with each other.

An amplifier selection device includes: a storage means for storing a database containing information pertaining to motor models, amplifier capacities and feature amounts; a means that obtain information of motor models necessary to configure a desired system; a means that calculate a number of necessary amplifiers; a means that select spindle amplifiers; a means that create a combination of servo amplifiers for each spindle amplifier; a means that extract information pertaining to the feature amounts by referring to the database; a means that determine a combination on a basis of the information pertaining to the feature amounts; a power source capacity calculation means that calculate capacities of a main power source and a control power source by referring to the database; and a display control means that display the combination of amplifiers along with the main power source and control power source capacities.

An amplifier selection device includes: a storage that stores a database containing motor models and information pertaining to amplifier capacities and feature amounts; a means that obtains motor model information; a means that calculates a number of amplifiers; a means that selects spindle amplifiers; a means that creates a combination of servo amplifiers and spindle amplifiers; a means that extracts information pertaining to the feature amounts; a means that determines a combination on the basis of the information pertaining to the feature amounts; a power source capacity calculation means that calculates capacities of a main power source and a control power source; a means that calculates a total power consumed by motors; and a display control means that displays the combination of amplifiers and time series data of the total value of the power consumed by the motors along with the main power source and control power source capacities.

Provided is a method for identifying a disturbance component, including: when a vibration frequency included in a position deviation or a synchronization error between a tool axis and a workpiece axis is defined as fd, and a sampling frequency of a sampling period, which is a time from when a tool cuts a single tooth trace on a workpiece until the tool again cuts the same tooth trace, is defined as Fs, determining a frequency Fa of undulation in a tooth trace direction from a formula:

Fa=MIN|fdNFs|,

where N is a natural number,

calculating a pitch of undulation in the tooth trace direction using the formula and a speed of the tool axis in a feed direction; and when the calculated pitch and a measured value of the pitch match, determining that fd is the disturbance component.

In order to provide an optimized multi-axis system having mechanically coupled axes, a feedforward control identification process is provided, during which actual identification variables occurring in each case at the motor are each provided to identification units associated with the feedforward controllers, wherein feedforward control parameters are identified using the actual identification variables, and closed-loop controllers are parameterized using the feedforward control parameters.

A control device and method for correcting a guide value and/or a resulting value of a synchronization function, wherein the guide value and/or the resulting value is/are corrected via a correction function, a correcting range of the correction function being specified via an effective guide value path, where an effective start of the correction function is specified via an effective guide value position, where the corrected guide value of a synchronization function is transferred as an input and/or the corrected resulting value is output as a target value to a successive axis.