| 摘要 |
A motor controller is provided which has a function to prevent the falling of a shaft when the power supply to a motor is turned on. The motor controller includes a PI control unit 1 which controls the velocity of a motor 4; a brake 8 which prevents the falling of the shaft in accordance with a brake signal; and a storage unit 7 which detects the brake signal input to the brake 8, and on the basis of the state of the detected brake signal, stores a torque command value T* calculated by the PI control unit 1. The storage unit 7 stores the torque command value T* when the brake signal has changed from off to on, and the storage unit 7 sets the stored torque command value T* to an integral component of the PI control unit 1 when the brake signal has changed from on to off. Thus, the falling of the shaft at the start of power application can be prevented.
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