| 摘要 |
<p>A servo controller having a function for reducing an amount of dropping of a gravity axis provided with a machine. The Servo controller is configured to control a servomotor for driving a gravity axis of the machine, and includes a brake signal outputting part configured to output a brake activation signal and a brake release signal to a mechanical brake for holding the gravity axis; a torque command generating part which generates a torque command value for controlling the position of the servomotor; and a torque limiting value generating part which generates a torque limiting value for limiting the torque command value. The torque limiting value generating part continuously reduces the torque limiting value from a first value larger than a torque corresponding to the gravity force to a second value smaller than the torque corresponding to the gravity force, after the brake activation signal is output.</p> |
