| 摘要 |
PROBLEM TO BE SOLVED: To enhance position precision of a driven body which is driven by a servo motor.SOLUTION: A servo controller 100 includes a servo motor 1, a driven body 2, a connection mechanism 3 which is connected to the servo motor and driven body, and a motor control part 10 which controls the servo motor 1. The motor control part 10 includes a position command generation part 11 which generates a position command value A0 of the driven body 2, a force estimation part 17 which estimates driving force T1 operating on the driven body 2, correction parts 18, 21 which correct the position command value A0 on the basis of the estimated driving force T1, and a control signal output part 13 which outputs a control signal to the servo motor 1 on the basis of the position command value Ax corrected by the correction parts 18, 21. |
