公开(公告)号：US20220411236A1

公开(公告)日：2022-12-29

申请号：US17865816

申请日：2022-07-15

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Minoru KOGA ,  Shota KAWAHARA ,  Junichi ITO

IPC: B66C13/30 ,  B66C13/46

Abstract: 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.