US 12,134,546 B2
Gantry drive system, motor control system, and control method
Minoru Koga, Fukuoka (JP); Shota Kawahara, Fukuoka (JP); and Junichi Ito, Fukuoka (JP)
Assigned to KABUSHIKI KAISHA YASKAWA DENKI, Fukuoka (JP)
Filed by KABUSHIKI KAISHA YASKAWA DENKI, Fukuoka (JP)
Filed on Jul. 15, 2022, as Appl. No. 17/865,816.
Prior Publication US 2022/0411236 A1, Dec. 29, 2022
Int. Cl. B66C 13/30 (2006.01); B66C 13/46 (2006.01); H02P 6/16 (2016.01)
CPC B66C 13/30 (2013.01) [B66C 13/46 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A gantry drive system comprising:
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,
wherein 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, the inter-axis positional deviation being a deviation between the position of the driving object on the first axis and the position of the driving object on the second axis, 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, and
the motor control system controls the first and second motors according to the control mode switched by the mode switch.