PURPOSE: To attain centralized control and decentralized control, by coupling plural controllers with a loop transmission line and then, coupling each said controller to a controller having other centralized control functions by means of a star transmission line.
CONSTITUTION: An automatic operating device (ATO)30 transmits acceleration command data to a transmission controller (NCP)11. The NCP11 transmits the received data on a loop transmission line 5. NCPs 12, 16 receiving the said data from the loop transmission line 5 transmits the data respectively to controllers 31, 35 also onto the loop transmission line 5 in a direction opposite to the receiving direction. The NCP receiving the same data from both directions of the loop transmission line 5 erases the said data. Controllers 31, 33, 35 to control a main motor M calculate the current value to be given to the main motor M based on the received acceleration command data to control the main motor M. On the other hand, the controller 4 monitors concentrizedly the operation of each section during this time and performs immediately the control when a failure is detected.
NOUMI MAKOTO
FUJIKURA NOBUYUKI
YABUSHITA MASAHARU
MIYAMOTO SHIYOUJI
