Abstract: A method of detecting a useful signal from a measurement signal that is overlaid by at least one interference signal for use in a control or regulating device, where the interference signal occurs with at least one known interference signal frequency. The method including the steps of detecting the measurement signal, performing a Fourier transformation on the measurement signal with reference to the interference signal frequency to detect the interference signal amplitude and phase, detecting the interference signal on the basis of the interference signal amplitude and phase, and removing the interference signal from the measurement signal to detect the useful signal. The Fourier transformation is performed only with reference to the known interference signal frequency to simplify the computation making it possible to detect the useful signal in real time.

Abstract: In a position control apparatus that drives a feed-axis with a servomotor of a machine tool, the machine tool may be quickly accelerated or decelerated in a state where a machine structural member that supports and fixes a structural member including a driving system has a lower rigidity, or in a state where an element having a lower rigidity is present beyond a load position where the detection by a linear scale is performed. In such cases, a generated deflection may induce a displacement in a mechanical system. A relative locus error may be generated between a workpiece to be processed and a front end portion of the tool. Further, a mechanism rigidity generally changes according to a machine posture. The generated deflection amount changes in magnitude. The present embodiment estimates and compensates a displacement amount of the front end portion of the tool that may be caused by the deflection of the mechanical system.

Abstract: A numerical controller for controlling a multi-axis machine calculates an axis-dependent translation error amount and an axis-dependent rotation error amount based on a command axis position. Translation and rotation compensation amounts are calculated based on the axis dependent translation and rotation error amounts, respectively. The translation and rotation compensation amounts are added to command linear and rotary axis positions, respectively. Three linear axes and three rotary axes are driven to the added positions, individually. Thus, there is provided a numerical controller that enables even machining with a side face of a tool or boring to be in commanded tool position and posture (orientation) in the multi-axis machine.

Abstract: A controller for an electro-mechanical actuation system such as a missile fin actuator includes a Kalman estimator circuit which generates an estimate of operating state including position and velocity of motor, position and velocity of a position-controlled element (PCE), and motor current. The estimate is generated based on a dynamic model explicitly including the effect of structural stiffness and damping in the coupling between the motor and the PCE, for example by treating it as a mechanical oscillator having spring and damping constants. The Kalman estimator operates on a motor drive control signal and a measured position signal which may be from a Hall sensor sensing motor position. A linear quadratic regulator circuit generates a control effort signal by applying a state feedback gain matrix to a state vector. The state feedback gain matrix minimizes a quadratic cost function representing variance of the control effort signal and/or the measured position signal.

Abstract: In an adder circuit, a sine wave is added to a compensation signal which is generated based on a position detection signal of a member to be driven and for compensating a position of a lens which is the member to be driven. An absolute value integrating circuit integrates absolute values of signals before and after the adder circuit adds the sine wave. The two obtained integrated values are compared by a comparator circuit, and a gain adjusting circuit adjusts a gain of an amplifier which amplifies the compensation signal so that the two integrated values are equal to each other.

Abstract: A servomotor controller capable of properly generating reference positions, by which learning control of angle based method may be applied to the periodically reciprocating motion of an object. The learning controller obtains a first positional deviation of a driven object at every predetermined sampling period of time, and the first positional deviation is converted, by a first converting part, to a second positional deviation associated with each reference position in one periodic reciprocating motion of the driven object. After a first correction amount of an immediately previous reciprocating motion of the driven object, stored in a memory, is added to the second positional deviation, the second positional deviation is stored in the memory as a renewed first correction amount. The first correction amount is converted to a second correction amount associated with the sampling period, by a second converting part.

Abstract: Improved precision is realized in positioning control. Provided is a servo control device that is applied to a numerical control equipment provided with a screw-feeding section that converts rotational movement of a motor to linear movement, a driven section that is linearly moved by the screw-feeding section, and a support member by which the screw-feeding section and the driven section are supported and that controls the motor so as to match a position of the driven section to a positioning instruction, including a support-member-reaction-force compensating section 311 that compensates for vibrations of the driven section due to a vibrational reaction force of the support member, wherein a transfer function provided in the support-member-reaction-force compensating section 311 includes a stiffness term for the driven section.

Abstract: Methods and apparatus are provided for deriving precision position and rate information for motors using relatively low precision analog sensors, and for implementing compensation techniques that overcome inherent sensor errors and rotor magnet flux tolerances.

Abstract: A method for controlling positioning of an actuator having a wave gear device uses a strict linearization technique to compensate for the effects relative to positioning control of a load shaft in the, as caused by the non-linear spring characteristics of the wave gear device. In the method, a plant model is constructed from the actuator to be controlled, the model being linearized using a strict linearization technique; measurements are taken of the non-linear elastic deformation of the wave gear device relative to load torque; the non-linear spring model ?g(?tw) is defined using a cubic polynomial with the constant defined as zero to allow the measurement results to be recreated; and the current input into the plant model and the motor position of the plant model when a load acceleration command is a command value are entered into a semi-closed loop control system for controlling the positioning of the load shaft, as a feed-forward current command and a feed-forward motor position command.

Abstract: A device and a method for operating a drive having a mechanically commutated electric motor, is provided, wherein a rotary position of the drive is determined by a circuit from a ripple of a motor current of the electric motor, wherein at least one correction value is determined for an error characteristic of the electric motor, wherein at least one correction value is determined for an error characteristic of the electric motor, in that the drive is moved to a reference position that can be sensed by means of a position sensor, in that the drive is moved from the reference position into a plurality of positions at a distance from the reference position and at least one position deviation is determined by the circuit, and in that the correction value is determined from the particular position deviation and stored.

Abstract: A speed controller used in a control loop of a motor includes a comparator, a processing device, and an arithmetic logical unit (ALU). The comparator compares a received instruction speed or a received measured speed of the motor with a predetermined speed value, outputs a first signal to the processing device when the received speed is greater than the predetermined speed value, or outputs a second signal to the processing device when the received speed is equal to or less than the predetermined speed value. The processing device receives a speed difference between the instruction speed and the measured speed. The processing device outputs a first proportional value when the first signal is received, or outputs a second proportional value when the second signal is received. The ALU outputs an instruction current to the control loop by calculating the proportional value according to a predetermined calculation rule.

Abstract: The non-linear elastic deformation component included in the angular transmission error of an actuator provided with a wave gear drive is a component of the angular transmission error occurring due to elastic deformation of a flexible externally-toothed gear when the direction of rotation of the motor shaft changes. This component can be analyzed by driving the motor in a sine-wave shape. A model of the non-linear elastic deformation component (non-linear model) obtained from the analysis results is used to store data or a function for compensating for this component in a motor-control device. Compensation for the non-linear elastic deformation component (?Hys) is added to a motor-shaft angle command (?*M) as a compensation input (N?*TE) for feed-forward compensation. As a result, the non-linear elastic deformation component (?Hys) can be effectively reduced, and the positioning precision of the actuator can be improved.

Abstract: A signal generating section includes a second calculating section that corrects phase resistance. The calculating section stores resistance values of phases that have been measured in advance and a reference resistance value. The calculating section calculates correction components, which cancel a voltage drop term of a voltage equation of a d-q coordinate system changing depending on the rotation angle of the motor, based on the stored resistance values and the reference resistance value. The signal generating section superimposes the correction component and the correction component on a d-axis voltage command value and a q-axis voltage command value, respectively. The d-axis voltage command value and the q-axis voltage command value are thus corrected in such a manner as to suppress a torque ripple caused by difference among the resistance values of the phases.

Abstract: Methods, systems, and apparatus, including computer program products, are described for calibrating spindle motor controllers. In one aspect, a method is provided that includes receiving a compensator output from a spindle motor controller that compensates for variations in a velocity of an associated spindle motor, and filtering the compensator output to compensate for a spindle motor system pole and produce a high frequency roll-off.

Abstract: The device for flying an aircraft includes a first unit for determining a control value corresponding to an instruction value representing the actuation of a control member by a pilot, a second unit for determining an effective control value corresponding to the instruction value which is actually applied to the aircraft, a third unit for automatically controlling the aircraft, a fourth unit for computing an auxiliary control value, which is closer to the effective controlled value, and a fifth unit for monitoring the control value and for detecting a pilot induced oscillation, where the automatic control is carried out with the aid of the controlled effective value and the auxiliary control value in the case of the detection of the pilot induced oscillation.

Abstract: A position control apparatus includes a reverse displacement calculation unit configured to calculate a reverse displacement that represents an amount of movement made from a preceding reverse point to a current reverse point by an axis that performs a reversing motion; a reversing-time segmenting number calculation unit configured to compare the reverse displacement to a predetermined value, and, when the reverse displacement is less than the predetermined value, increase a value of a reversing-time segmenting number, which is a coefficient indicating a number of segments per unit time during a reversing motion, and, when the reverse displacement is greater than or equal to the predetermined value, decrease the value of the reversing-time segmenting number; and a quadrant inversion compensation unit configured to automatically adjust a quadrant inversion compensation amount according to the reversing-time segmenting number and perform the quadrant inversion compensation based on the automatically adjusted co

Abstract: There is provided a scanning probe microscope that allows active damping to be advantageously carried out. A Z scan control section functions as a driving control section to control a Z scanner that is a controlled object. Driving control is performed by supplying the controlled object with a driving signal processed by an adjustment function. The adjustment function adjusts the driving signal by using a simulated transfer function that simulates an actual transfer function indicative of an actual frequency characteristic of the controlled object so that executing processing of the simulated transfer function on the adjusted driving signal results in decrease of vibration of an output signal from the simulated transfer function.

Abstract: A method of estimating stator resistance of a permanent magnet synchronous machine, when the permanent magnet synchronous machine is controlled with an inverter using a control system having an adaptive observer which is augmented with a signal injection, the adaptive observer having a stator resistance estimate ({circumflex over (R)}s) as a parameter, in which method an error signal (?) is obtained from the signal injection, a speed correction term (??) is calculated from the error signal (?), the rotor position estimate is corrected using the speed correction term (??) in the adaptive observer, whereby the error signal (?) is driven to zero. The method comprises the step of correcting the value of the stator resistance estimate ({circumflex over (R)}s) in the adaptive observer when the speed correction term (??) differs from zero.

Abstract: The invention relates to an actuator having an (auto)synchronous rotary electric motor and a reversible speed-reducing gearbox coupled to the motor to be driven in rotation thereby An outlet shaft is coupled to the speed-reducing gearbox to be driven in rotation thereby A first angular position sensor and a control circuit are connected to the motor. The circuit delivers a motor power supply signal that varies as a function of a position setpoint signal applied to the control circuit and as a function of signals delivered by the angular position sensor. The gearbox has a plurality of speed-reducing each having a pair of gears mounted to rotate about two parallel axes of rotation.

Abstract: A motor control system suppresses vibration of a machine base and achieves high-speed positioning without using a special sensor but using a model control system. A first feedback section outputs a first feedback command generated based on model machine base position information and containing at least position information on the machine base. A second feedback section outputs a second feedback command containing a filtered model torque command. A differential between the sum of the first feedback command and the second feedback command obtained by a second addition section and the model torque command is calculated to give the differential to an input portion of a model torque command low-pass filter and an input portion of a torque command low-pass filter.

Abstract: A servo motor controller having: a frequency identification section that performs analysis based on a frequency response method and identifies the frequency of a disturbance exhibiting a specified phase lag; an input/output gain identification section that identifies the input/output gain at the frequency identified by the frequency identification section; and a magnification factor resetting section that resets an adjustment magnification factor by performing a specified operation on a ratio between the identified input/output gain and a specified target value of the input/output gain.

Abstract: A motion control device for controlling a motor is presented. The motion control device is operable to scale or adjust an input relative to an input range that is based on calibration values and to use that scaled input to produce a drive signal to drive the motor. The motion control device performs a self-calibration to produce the calibration values. The self-calibration involves measuring home position and full travel position values for the motor.

Abstract: A high phase order alternating current rotating machine is disclosed having an inverter drive that provides more than three phases of drive waveform of harmonic order H, and characterized in that the windings of the machine have a pitch of less than 180 rotational degrees. Preferably the windings are connected together in a mesh, star or delta connection. A method for operating a high phase order induction motor is also disclosed, involving electrically connecting N windings into a mesh connection with a value of ? that provides a substantial range in speed/torque relation when operating with at least two out of first, second and third harmonic, low order harmonics being the most efficient.

Abstract: A control method for motor driver includes: outputting a first signal from the controller to the first motor driver; making the first timer start to count for a first time; returning a first feedback signal from the first motor driver to the controller; dividing a value of a first count time of the first timer by two to get a value of a first delay time, wherein the first delay time is defined as the time of transmitting signals from the controller to the first motor driver; adding the value of the first delay time to the value of the first count time of the first timer to get a first sum; and transferring the first sum to the second timer to replace a value of a count time of the second timer.

Abstract: A servo control apparatus that performs dual-position feedback control and thereby achieves a reduction in position error according to the purpose of machining.

Abstract: A motor controller includes a command part that generates a command signal, a control part that drives a control object through an output filter when the command signal is input, an operating amount detector that detects an operating amount of the control object, a frequency response characteristic measurement part that generates an open loop frequency response characteristic on the basis of the command signal and the operating amount, a model calculation part that simulates a frequency characteristic of the output filter, and a display that displays the add result of an amplitude characteristic of the frequency characteristic of the frequency response characteristic measurement part and an amplitude characteristic of the frequency characteristic of the model calculation part.

Abstract: A controller and a control system capable of estimating inertia of an article to be driven in a short period of time, with a small operation range of an electric motor. The controller for the motor has an inertia estimating part which includes a sine-wave command generating part which adds a sine-wave command to a torque command for the motor; a current feedback sampling part which obtains a current value of the motor; a speed feedback sampling part which obtains a speed feedback of the motor; an acceleration calculating part which calculates an acceleration value based on the speed feedback; and an estimated inertia calculating part which estimates the inertia of the article, based on a representative current value, a representative acceleration value and a torque constant of the motor, which are calculated from current and acceleration values in a plurality of cycles of the sine-wave command and stored in a sampling data storing part.

Abstract: The invention relates to a method for commanding a system controlled by means of a time-division multi-level command. The invention consists in acquiring two measurements by means of the sensor, each during a period, the two periods being dissymmetrical relative to the division of the command, determining an offset of the control subsystem and a corrected response without offset of the system to the command as a function of the measurements and of the measurement periods. With the aid of these two measurements, the invention makes it possible to eliminate the effect of the offset in the control subsystem of the system.

Abstract: A method of configuring a signal for controlling a voice coil motor (VCM) is disclosed. A voltage at an error amplifier of a VCM driver is accessed. A target value at the error amplifier is accessed. A difference value between the target value and the voltage is determined. An impedance value of the variable compensation coupled with the error amplifier is adjusted, based on the difference value.

Abstract: A driving control apparatus for driving a controlled object. The apparatus includes first and second interferometers, each of which (i) detects a position of the controlled object in a predetermined direction and (ii) produces a respective detection value. A control unit obtains a rotation amount of the controlled object based on the detection values produced by the first and second interferometers, at a predetermined measurement timing, to calculate a controlled variable based on the rotation amount and a target value, and to output the controlled variable.

Abstract: A device for controlling a feed motion of a feed control axis and a rotary motion of a rotary control axis, both axes being provided in a machine tool so that the rotary control axis is fed along the feed control axis. The device includes an interference estimating section estimating an interference generated between the feed control axis and the rotary control axis, based on a position command instructed to at least one of the feed control axis and the rotary control axis and a position and mass information of an eccentric load carried by the rotary control axis; and a command correcting section correcting a current command given to at least one of the feed control axis and the rotary control axis, based on the interference estimated by the interference estimating section.

Abstract: System and methods of controlling a plurality of motors based on a motor motion attribute, such as rotor position, velocity, or acceleration, which simulate the properties of a mechanical differential, including a pure differential, a limited slip differential, and/or a locking differential. The method may be employed in a number of applications, including, without limitation, a paper handling system, such as an inserter, to control the nips of a pinless cutter of an inserter, and in a vehicle.

Abstract: An externally configurable soft starter system comprises a motor controller including solid state switches for controlling application of power to a motor. A control circuit controls operation of the solid state switches. The control circuit comprises a programmed processor for commanding operation of the solid state switches and a memory connected to the programmed processor storing parameters relating to operation of the solid state switches. An interface circuit is operatively connected to the programmed processor. An external device includes a memory for storing parameters relating to operation of the solid state switches and an interface for communication with the motor controller. A configuration program is operatively implemented in the programmed processor and the external configuration device for transferring a configuration database file between the controller memory and the external device memory.

Abstract: A drive system, such as for a fluid jet cutting system, includes a brushless synchronous motor configured to drive movement through a loosely coupled transmission, a sensor configured to sense movement, and a control system configured to drive the brushless synchronous motor responsive to previously measured drive coupling.

Abstract: An energy-saving magnetic bearing device with no bias current for making the relation between the excitation current and the magnetic force of the electromagnet linear is provided. In a magnetic bearing device for supporting a rotor 1 serving as the magnetic piece in a levitating state allowing free rotation at a specified position by the magnetic force of a pair of electromagnets 2, 3, the electromagnets 2, 3 are constituted to interpose the rotor 1 and face each other. A driver 204 is a PWM (pulse width modulation) type driver for controlling the excitation current in the electromagnets 2, 3 by modulating the pulse width of a voltage driven at a specified carrier frequency fc, and includes a resonator means for electrically resonating at a frequency equal to the carrier frequency fc.

Abstract: An information management system includes a storage medium storing position error information of the rotation sensor obtained based on information of the back electromotive force and output information from the rotation sensor in an inspection process in which a back electromotive force is measured by mechanically driving the rotary electrical machine after the rotary electrical machine and the rotation sensor are assembled, wherein the storage medium is provided in a state capable of being read via communication when a control device controlling the rotary electrical machine is assembled with the rotary electrical machine.

Abstract: In a numerically controlled machine tool which has a linear feed axis and a rotational feed axis and in which a main spindle and a table are movable relative to each other, a position error and an attitude error produced by an operation of a linear feed axis and a rotational feed axis are measured at a plurality of measurement points set within a movable range of the linear feed axis and the rotational feed axis, and the position error and the attitude error thus measured are stored as an error map in correspondence to a position of the linear feed axis and a rotation angle of the rotational feed axis.

Abstract: In a correction method for a microprocessor-controlled digital regulation of a drive motor, wherein the measurement arrangement used for the regulation of the motor is simplified. recognizing that the real value surveying cannot always be implemented periodically by the microprocessor at the requested point in time, making sporadic measurement errors of a simplified measurement arrangement ineffectual, in accordance with the method individual measurement values with a sudden change are read out and correction values are used instead of these for the regulation.

Abstract: Embodiments of the invention compensate for one or more effects of a stage motor in a precision stage device. A feedforward module receives an input signal corresponding to the effect of the motor and generates a feedforward control signal that can be used to modify a motor control signal to compensate for the effect of the motor. In some embodiments, a control system is provided to compensate for a back-electromotive force generated by a motor, while in other embodiments, a control system may compensate for an inductive effect of a motor. Embodiments of the invention may be useful in precision stage devices, for example, lithography devices such as steppers and scanners.

Abstract: A motor control system includes a motor unit and a controller unit electrically connected therewith. The motor unit includes a motor, a resolver detecting a rotational angle of the motor and a first memory storing first error data for detection by the resolver of the motor's rotational angle. The controller unit includes a second memory storing second error data for detection by the resolver of the motor's rotational angle and a motor controller determining an actual rotational angle of the motor according to the detected rotational angle detected by the resolver and the second error data in the second memory and controls the motor's rotation according to the determined actual rotational angle. The motor unit or the controller unit further includes an update section updating the second error data with the first error data according to motor data in the first and second memories.

Abstract: A controller includes a rotating direction detecting unit 34 to detect the rotating direction of a servo motor 6, a reversing distance computing unit 31 to compute a rotating angle of the servo motor 6, a rotation resistance computing unit 35 to compute rotation resistance on the servo motor side 6, and an elastic deformation error amount computing unit 21 to compute a deformation error amount of a ball screw 3. In the controller, when the rotating direction detecting unit 34 detects reverse of the servo motor 6, the rotation resistance computing unit 35 computes rotation resistance based on a rotating angle ?? of the servo motor 6 after the servo motor is reversed. The elastic deformation error amount computing unit 21 computes the elastic deformation error amount ? based on the computed rotation resistance. Thereby, a position command value inputted into the position control unit 14 can be corrected.

Abstract: Presented is a harmonic regulator that regulates a plurality of individual harmonics in a system having periodic torque disturbances to commanded values, including zero. For each harmonic being regulated, a feedback signal having at least one harmonic component due to the harmonic being regulated is transformed from a source reference frame to a harmonic reference frame of the harmonic being regulated to form a qd feedback signal. The qd feedback signal is subtracted from the commanded value to form a qd signal and regulated. The regulated qd signal is transformed to a destination reference frame to form a compensation signal and the compensation signal is added to a control signal to form a qd control signal that drives each harmonic being regulated towards the commanded value.

Abstract: In a speed control device including a speed instruction generating unit, an addition computing unit, a speed control unit, a current controlling unit, an inertia estimating unit, an inertia setting unit, a switching unit and a constant setting unit, when it is possible to perform accelerating or decelerating operation of the electric motor to estimate the inertia moments of the electric motor and a driving target thereof, an operation is carried out to derive an inertia moment estimation value. The proportional gain of the speed control unit is set through the switching unit and the constant setting unit on the basis of the inertia moment estimation value. When it is impossible to perform the above operation, the proportional gain of the speed control unit is set through the switching unit and the constant setting unit on the basis of the inertia moment manual set value.

Abstract: In a power converter including an inverter configured to convert a direct current voltage into an alternating current voltage by controlling switching devices to be turned ON or OFF based on a control signal and to output the alternating current voltage to a load, a carrier wave frequency is changed. A command value is compensated in accordance with the changing carrier wave frequency. The control signal results from a comparison of the carrier wave with a compensated command value. As a result of the compensation, output fluctuations caused by an error voltage between the command value and an output voltage to the load can be suppressed.

Abstract: A numerically controlled machine tool which has a linear feed axis and a rotational feed axis and which has functions for measuring in advance, errors of a relative position and a relative attitude of a main spindle relative to a work table by positioning the linear feed axis and the rotational feed axis to specified position and attitude, and correcting a movement command based on measured error data, the error data being multi-dimensional data containing a position error and an attitude error. The machine tool includes a error data storage means which store an error map that is prepared by collecting a plurality of the error data corresponding to positions and rotation angles of the linear feed axis and the rotational feed axis, and a correction data computing means which compute correction data for correcting the movement command from a command position for the linear feed axis and the rotational feed axis and the error data stored in the error data storage means.

Abstract: A difference between each position command data outputted in a form of a step signal from a high-level controller and its corresponding detected position data of a movable body is integrated by an integral compensator to position the movable body. Assuming, for example, that the movable body is a steerable mirror, digital filters are arranged to compensate the value of an initial state of an angular displacement and the value of an initial state of an angular velocity, respectively, and respective impulse responses of the digital filters as additional input elements are added to an output terminal of the integral compensator. For higher effectiveness, internal state variables of the digital filters can desirably be cleared to zero whenever an angle (position) command data is received.

Abstract: Kinematic control of an electronic positioner and its associated actuator is effected through a control algorithm that delivers energy to the actuator based on observed motion produced by a previous delivery of energy. The algorithm achieves control based on a desired or user-specified resolution. Electronic braking between energy delivery intervals improves the speed at which the desired position is achieved. Temperature of the force producing mechanism is determined, as by monitoring energy consumed, and used to control how power is delivered to the actuator.

Abstract: Systems and methods for synchronous operation of variable speed drives having active converters include extending the synchronous operation of an active converter to the AC mains voltage during complete line dropout. A phase angle control circuit includes a squaring amplifier, a first phase-lock loop circuit associated and a second phase-lock loop circuit. The squaring amplifier receives the AC power source and outputs a rectangular output signal to a pair of phase lock loop (PLL) circuits. The first PLL circuit with a first lag-lead filter is configured with a high cutoff frequency to provide the converter stage with a phase angle parameter; and the second phase-lock loop circuit including a second lag-lead filter configured to have a low cutoff frequency to provide the lag-lead filter the capability of storing the phase angle of the mains voltage during mains interruption.

Abstract: A motor driving device includes an amplifying unit, a noise removing unit, an analog-to-digital converter, a calculating unit, and a motor driving unit. The amplifying unit amplifies an analog frequency signal corresponding to a rotation speed of a direct-current brushless motor. The noise removing unit removes noise from the analog frequency signal after amplification. The analog-to-digital converter converts the analog frequency signal from which noise is removed to a digital frequency signal. The calculating unit calculates a current control amount with respect to each phase of the direct-current brushless motor based on the digital frequency signal. The motor driving unit drives the direct-current brushless motor at a specified speed based on the current control amount.

Abstract: A conveyer for transporting a box and a conveyer for transporting a bottle are driven along a follow-up target axis and a follow-up axis, respectively. The follow-up axis is accelerated from a synchronization start position, and, when the follow-up axis velocity catches up with the conveyer, performs the constant velocity operation. An advanced operation, performed by an asynchronous axis (moving the bottle closer to the box), is started before synchronization completes, and is completed when synchronization completes, then immediately an operation by a synchronous axis (follow-up target axis or follow-up axis) is started (insertion operation). The point of time when the advanced operation is started is determined by processing of the numerical controller, as a point of time when the time required for the follow-up axis in the current status to reach the synchronization completion status becomes the same as the time required for the advanced operation (preset).