| 摘要 |
PROBLEM TO BE SOLVED: To provide a method for controlling a servo motor and a controller of the servo motor by which appropriate correction is performed so that torque change follows even friction which is varied due to a free zone when a ball screw is reversed while correcting a quadrant projection. SOLUTION: The method for controlling the servo motors directly or indirectly detects a position of a mobile object to which circular interpolation feeding motion is performed by the servo motor and makes feedback control for making the position of the mobile object follow a position instruction, torque correction according to distance from a position where the moving direction is switched, is made to a torque instruction value in the quadrant projection in which the moving direction of the mobile object is switched. Appropriate torque correction is allowed especially by providing a first torque correction value for static friction correction and also by providing a second torque correction value for dynamic friction correction from a distance after passing the free zone. COPYRIGHT: (C)2008,JPO&INPIT
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