Sughrue, Mion, Zinn, Macpeak & Seas
Control system having multiple control apparatuses
 A control system having multiple control apparatuses connected by a data transmission path. Each of the control apparatuses comprises a communication control section, sequence control section, and positioning control section. The positioning control section of each control apparatus has a memory. A position controlling program is stored in the memory of a first one of the control apparatuses. The position controlling program has codes, each of which to be used by a positioning control sections of a particular control apparatus, for controlling its respective servo motor. The codes of the position controlling program are transmitted from the first control apparatus to another control apparatuses to cause the positioning control section of that apparatus to control its respective servo motor in accordance with the codes. 
Mitsubishi Denki Kabushiki Kaisha
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Makoto
Nishimura