Sughrue, Mion, Zinn, Macpeak & Seas
Positioning apparatus and method with virtual transmission
 A positioning apparatus and method for synchronously controlling a plurality of motors, such as servo motors, and exercises synchronous control by means of only motors without using any mechanisms, such as coupling shafts, clutches, gears and cams. A controller has a virtual drive capability which provides a virtual cam and virtual clutch capability on the basis of stored values, permitting continuous and repeated operation of a single cycle of positioning with respect to changes in input axis position address data without recalculation of command addresses in real time. 
Mitsubishi Electric Engineering Co., Ltd. Mitsubishi Denki Kabushiki Kaisha
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Yuko Hidehiko Makoto Misako Yasuharu
Tomita Matsumoto Nishimura Okada Kudo