A method of and apparatus for synchronous control of a leading element and a
follower
element in which synchronism is started smoothly and a mechanical shock at the
start of synchronism is reduced. When the follower element is started to move to
be synchronized with the leading element, motion of the follower element is started
before the follower element reaches a start position of the synchronism, and brought
into synchronism with the leading element at the start position of synchronism.
A positional relationship between the leading element and the follower element
in synchronism, and a start position for starting the synchronism of the follower
element and the leading element is set. An acceleration control of the follower
element is performed between a motion start position preceding the start position
of the synchronism and the start position of the synchronism. A position control
of the follower element is performed based on position data of the leading element
and the set positional relationship after the follower element reaches the start
position of the synchronism.
